Determining robotic surgical assembly coupling status

ABSTRACT

Various connection detection assemblies for a robotic surgical assembly are disclosed. The robotic surgical assembly can include a carriage, a carriage housing releasably connectable to the carriage, a motor housing configured to house a motor pack for driving the surgical instrument, wherein the motor housing is releasable connectable to the carriage housing, and an interface module configured to releasably secure the robotic surgical assembly to the surgical instrument. The robotic surgical assembly can also include a series of interconnections defined by mating portions of the carriage, the carriage housing, the motor housing, and the interface module. A control circuit configured to detect a fully engaged configuration of the mating portions based on the interconnections.

BACKGROUND

The present disclosure relates to robotic surgical systems. Roboticsurgical systems can include a central control unit, a surgeon's commandconsole, and a robot having one or more robotic arms. Robotic surgicaltools can be releasably mounted to the robotic arm(s). The number andtype of robotic surgical tools can depend on the type of surgicalprocedure. Robotic surgical systems can be used in connection with oneor more displays and/or one or more handheld surgical instruments duringa surgical procedure.

FIGURES

The features of various aspects are set forth with particularity in theappended claims. The various aspects, however, both as to organizationand methods of operation, together with further objects and advantagesthereof, may best be understood by reference to the followingdescription, taken in conjunction with the accompanying drawings asfollows.

FIG. 1 is a block diagram of a computer-implemented interactive surgicalsystem, in accordance with at least one aspect of the presentdisclosure.

FIG. 2 is a surgical system being used to perform a surgical procedurein an operating room, in accordance with at least one aspect of thepresent disclosure.

FIG. 3 is a surgical hub paired with a visualization system, a roboticsystem, and an intelligent instrument, in accordance with at least oneaspect of the present disclosure.

FIG. 4 is a schematic of a robotic surgical system, in accordance withat least one aspect of the present disclosure.

FIG. 4A illustrates another exemplification of a robotic arm and anotherexemplification of a tool assembly releasably coupled to the roboticarm, according to one aspect of the present disclosure.

FIG. 5 is a block diagram of control components for the robotic surgicalsystem of FIG. 4, in accordance with at least one aspect of the presentdisclosure.

FIG. 6 is a schematic of a robotic surgical system during a surgicalprocedure including a plurality of hubs and interactive secondarydisplays, in accordance with at least one aspect of the presentdisclosure.

FIG. 7 is a detail view of the interactive secondary displays of FIG. 6,in accordance with at least one aspect of the present disclosure.

FIG. 8 illustrates a surgical data network comprising a modularcommunication hub configured to connect modular devices located in oneor more operating theaters of a healthcare facility, or any room in ahealthcare facility specially equipped for surgical operations, to thecloud, in accordance with at least one aspect of the present disclosure.

FIG. 9 illustrates a computer-implemented interactive surgical system,in accordance with at least one aspect of the present disclosure.

FIG. 10 illustrates a surgical hub comprising a plurality of modulescoupled to the modular control tower, in accordance with at least oneaspect of the present disclosure.

FIG. 11 illustrates one aspect of a Universal Serial Bus (USB) networkhub device, in accordance with at least one aspect of the presentdisclosure.

FIG. 12 illustrates a logic diagram of a control system of a surgicalinstrument or tool, in accordance with at least one aspect of thepresent disclosure.

FIG. 13 illustrates a control circuit configured to control aspects ofthe surgical instrument or tool, in accordance with at least one aspectof the present disclosure.

FIG. 14 illustrates a combinational logic circuit configured to controlaspects of the surgical instrument or tool, in accordance with at leastone aspect of the present disclosure.

FIG. 15 illustrates a sequential logic circuit configured to controlaspects of the surgical instrument or tool, in accordance with at leastone aspect of the present disclosure.

FIG. 16 illustrates a surgical instrument or tool comprising a pluralityof motors which can be activated to perform various functions, inaccordance with at least one aspect of the present disclosure.

FIG. 17 is a schematic diagram of a robotic surgical instrumentconfigured to operate a surgical tool described herein, in accordancewith at least one aspect of the present disclosure.

FIG. 18 illustrates a block diagram of a surgical instrument programmedto control the distal translation of a displacement member, inaccordance with at least one aspect of the present disclosure.

FIG. 19 is a schematic diagram of a surgical instrument configured tocontrol various functions, in accordance with at least one aspect of thepresent disclosure.

FIG. 20 is a simplified block diagram of a generator configured toprovide inductorless tuning, among other benefits, in accordance with atleast one aspect of the present disclosure.

FIG. 21 illustrates an example of a generator, which is one form of thegenerator of FIG. 20, in accordance with at least one aspect of thepresent disclosure.

FIG. 22 is a schematic of a robotic surgical system, in accordance withone aspect of the present disclosure.

FIG. 23 is an exploded view of a robotic surgical assembly, inaccordance with at least one aspect of the present disclosure.

FIG. 24 is a perspective view of a carriage and a slide rail of arobotic surgical assembly, in accordance with at least one aspect of thepresent disclosure.

FIG. 25 is a side elevational view of a carriage and a slide rail of arobotic surgical system, in accordance with at least one aspect of thepresent disclosure.

FIG. 26 is a sectional view of an instrument drive unit, in accordancewith at least one aspect of the present disclosure.

FIG. 27 is a perspective view of motors and respective motor couplers ofa motor pack, in accordance with at least one aspect of the presentdisclosure.

FIG. 28 is a perspective view of an instrument drive unit comprising acooling unit, in accordance with at least one aspect of the presentdisclosure.

FIG. 29 is an exploded view of an instrument drive unit comprising acooling unit, in accordance with at least one aspect of the presentdisclosure.

FIG. 30 is a side elevational view of a robotic arm comprising anair-based cooling system for an instrument drive unit, in accordancewith at least one aspect of the present disclosure.

FIG. 31 is a side elevational view of a robotic arm comprising afluid-based cooling system for an instrument drive unit, in accordancewith at least one aspect of the present disclosure.

FIG. 32 is a perspective view of a fluid-based, enclosed cooling systemfor an instrument drive unit, in accordance with at least one aspect ofthe present disclosure.

FIG. 33 is a schematic view of robotic surgical assembly circuitrycomprising a heat sink assembly, in accordance with at least one aspectof the present disclosure.

FIG. 34 is a schematic view of robotic surgical assembly circuitrycomprising a fluid cooling system, in accordance with at least oneaspect of the present disclosure.

FIG. 35 is a perspective view of an instrument drive unit comprising aheat sink assembly, in accordance with at least one aspect of thepresent disclosure.

FIG. 36 is a sectional view of the instrument drive unit and heat sinkassembly of FIG. 35, in accordance with at least one aspect of thepresent disclosure.

FIG. 37 is a perspective view of a sterile drape securable to a roboticarm, in accordance with at least one aspect of the present disclosure.

FIG. 38A is a detail view of a first attachment assembly for the steriledrape, in accordance with at least one aspect of the present disclosure.

FIG. 38B is a detail view of a second attachment assembly for thesterile drape, in accordance with at least one aspect of the presentdisclosure.

FIG. 39A is a perspective view of a segmented sterile drape positionedon a robotic arm, in accordance with at least one aspect of the presentdisclosure.

FIG. 39B is a detail view of a portion of FIG. 39A, in accordance withat least one aspect of the present disclosure.

FIG. 39C is a detail view of a portion of FIG. 39B, in accordance withat least one aspect of the present disclosure.

FIG. 40 is a perspective view of an adapter interface for a steriledrape, in accordance with at least one aspect of the present disclosure.

FIG. 41A is a perspective view of a sterile drape comprising a releasecord positioned on a robotic arm, in accordance with at least one aspectof the present disclosure.

FIG. 41B is a perspective view of the sterile drape of FIG. 41A with therelease cord being pulled proximally, in accordance with at least oneaspect of the present disclosure.

FIG. 41C is a perspective view of the sterile drape of FIG. 41A releasedfrom the robotic arm, in accordance with at least one aspect of thepresent disclosure.

FIG. 41D is a perspective view of a replacement sterile drape beingpositioned over the robotic arm, in accordance with at least one aspectof the present disclosure.

FIG. 42A is a perspective view of a sterile drape comprising a releasecord positioned on a robotic arm, in accordance with at least one aspectof the present disclosure.

FIG. 42B is a perspective view of the sterile drape of FIG. 42A beingreleased from the robotic arm and a replacement sterile drape beingdeployed from the sterile drape holder, in accordance with at least oneaspect of the present disclosure.

FIG. 42C is a perspective view of a replacement sterile drape beingfully deployed from the sterile drape holder, in accordance with atleast one aspect of the present disclosure.

FIG. 43A is a perspective view of a sterile drape comprising a supportskeleton positioned on a robotic arm, in accordance with at least oneaspect of the present disclosure.

FIG. 43B is a detail view of the sterile drape of FIG. 43A, inaccordance with at least one aspect of the present disclosure.

FIG. 44 is a perspective view of a sterile drape comprising joint zones,in accordance with at least one aspect of the present disclosure.

FIG. 45A is a detail view of a sterile drape comprising amoisture-detecting layer, in accordance with at least one aspect of thepresent disclosure.

FIG. 45B is a perspective view of the sterile drape of FIG. 45Apositioned on a robotic arm, where the sterile drape has been breached,in accordance with at least one aspect of the present disclosure.

FIGS. 46A-46B are detail views of a sterile drape comprising pressurizedair pockets, in accordance with at least one aspect of the presentdisclosure.

FIGS. 46C-46D are detail views of the sterile drape of FIGS. 46A-46B,where the sterile drape has been breached, in accordance with at leastone aspect of the present disclosure.

FIG. 47A is a perspective view of a pressurized sterile drape positionedon a robotic arm, in accordance with at least one aspect of the presentdisclosure.

FIG. 47B is a perspective view of the sterile drape of FIG. 47A, wherethe sterile drape has been breached, in accordance with at least oneaspect of the present disclosure.

FIG. 47C is a graph of sterile drape air pressure verse time forbreached and non-breached sterile drapes, in accordance with at leastone aspect of the present disclosure.

FIG. 48A is a detail view of a sterile drape comprising a color-changinglayer, in accordance with at least one aspect of the present disclosure.

FIG. 48B is a perspective view of the sterile drape of FIG. 48A, wherethe sterile drape has not been experienced a temperature above athreshold temperature, in accordance with at least one aspect of thepresent disclosure.

FIG. 48C is a perspective view of the sterile drape of FIG. 48A, wherethe sterile drape has been experienced a temperature above a thresholdtemperature, in accordance with at least one aspect of the presentdisclosure.

FIG. 48D is a graph of temperature verse time for a color-changingsterile drape, in accordance with at least one aspect of the presentdisclosure.

FIG. 49A is a sectional view of a self-healing sterile drape, inaccordance with at least one aspect of the present disclosure.

FIG. 49B is a sectional view of the sterile drape of FIG. 49A, where thesterile drape has been breached, in accordance with at least one aspectof the present disclosure.

FIG. 49C is a sectional view of the sterile drape of FIG. 49B, where thesterile drape has healed the breach, in accordance with at least oneaspect of the present disclosure.

FIG. 50 is a perspective view of a sterile drape comprising a coloredunderlayer, in accordance with at least one aspect of the presentdisclosure.

FIG. 51 is a sectional view of a portion of a robotic surgical assembly,in accordance with at least one aspect of the present disclosure.

FIG. 52 is an exploded view of a robotic surgical assembly, inaccordance with at least one aspect of the present disclosure.

FIG. 53 is a perspective view of a sterile interface module of a roboticsurgical assembly, in accordance with at least one aspect of the presentdisclosure.

FIG. 54A is a side elevational view of a surgical instrument beingcoupled to a sterile interface module, in accordance with at least oneaspect of the present disclosure.

FIG. 54B is a detail view of the surgical instrument in a firstuncoupled position with the sterile interface module, in accordance withat least one aspect of the present disclosure.

FIG. 54C is a detail view of the surgical instrument in a seconduncoupled position with the sterile interface module, in accordance withat least one aspect of the present disclosure.

FIG. 54D is a detail view of the surgical instrument in a coupledposition with the sterile interface module, in accordance with at leastone aspect of the present disclosure.

FIG. 55A is a perspective view of a proximal end of a surgicalinstrument comprising an alignment electrical contact, in accordancewith at least one aspect of the present disclosure.

FIG. 55B is a sectional view of the surgical instrument of FIG. 55Auncoupled to a sterile interface module, in accordance with at least oneaspect of the present disclosure.

FIG. 55C is a sectional view of the surgical instrument of FIG. 55Acoupled to a sterile interface module, in accordance with at least oneaspect of the present disclosure.

FIG. 56 is a logic flow diagram of a process for verifying that asurgical instrument is fully coupled to the robotic surgical assembly,in accordance with at least one aspect of the present disclosure.

FIG. 57A is an exploded view of a robotic surgical assembly and surgicalinstrument comprising coupling sensors, in accordance with at least oneaspect of the present disclosure.

FIG. 57B is a side elevational view of a surgical instrument coupled tothe robotic surgical assembly of FIG. 57A, in accordance with at leastone aspect of the present disclosure.

FIG. 58 is a logic flow diagram of a process for verifying that asurgical instrument is fully coupled to the robotic surgical assembly,in accordance with at least one aspect of the present disclosure.

FIG. 59 is an exploded view of a robotic surgical assembly comprisingcontinuity circuits, in accordance with at least one aspect of thepresent disclosure.

FIG. 60 is an exploded view of a robotic surgical assembly comprisingproximity sensors, in accordance with at least one aspect of the presentdisclosure.

FIG. 61A is an overhead elevational view of the robotic surgicalassembly of FIG. 60, where the surgical instrument is in a firstorientation, in accordance with at least one aspect of the presentdisclosure.

FIG. 61B is an overhead elevational view of the robotic surgicalassembly of FIG. 60, where the surgical instrument is in a secondorientation, in accordance with at least one aspect of the presentdisclosure.

FIG. 61C is an overhead elevational view of the robotic surgicalassembly of FIG. 60, where the surgical instrument is in a thirdorientation, in accordance with at least one aspect of the presentdisclosure.

FIG. 62A is a perspective view of a robotic grasper comprising asurgical instrument identification sensor assembly, in accordance withat least one aspect of the present disclosure.

FIG. 62B is an overhead elevational view of the robotic grasper of FIG.62A grasping a surgical instrument, in accordance with at least oneaspect of the present disclosure.

FIG. 63A is a perspective view of a robotic grasper comprising asurgical instrument identification sensor, in accordance with at leastone aspect of the present disclosure.

FIG. 63B is a detail view of a surgical instrument comprising a firstidentification element, in accordance with at least one aspect of thepresent disclosure.

FIG. 63C is a detail view of a surgical instrument comprising a secondidentification element, in accordance with at least one aspect of thepresent disclosure.

FIG. 63D is a detail view of a surgical instrument comprising a thirdidentification element, in accordance with at least one aspect of thepresent disclosure.

FIG. 64 is a logic flow diagram of a process for determining whether acompatible trocar is coupled to the robotic surgical assembly, inaccordance with at least one aspect of the present disclosure.

FIG. 65 is a logic flow diagram of a process for controlling surgicaltool movement according to scope visualization, in accordance with atleast one aspect of the present disclosure.

FIG. 66A is a perspective view of a surgical instrument comprising anirregular gripping interface, in accordance with at least one aspect ofthe present disclosure.

FIG. 66B is an overhead elevational view of a robotic grasper comprisinga vacuum source grasping the surgical instrument of FIG. 66A, where thesurgical instrument is not properly aligned, in accordance with at leastone aspect of the present disclosure.

FIG. 66C is an overhead elevational view of a robotic grasper comprisinga vacuum source grasping the surgical instrument of FIG. 66A, where thesurgical instrument is properly aligned, in accordance with at least oneaspect of the present disclosure.

FIG. 66D is a graph of vacuum pressure and device power verse time for arobotic surgical system configured to control device power according tosurgical instrument alignment, in accordance with at least one aspect ofthe present disclosure.

FIG. 67A is a side elevational view of a safety envelope defined about apatient for a robotic surgical system, in accordance with at least oneaspect of the present disclosure.

FIG. 67B is an overhead elevational view of the robotic surgical systemof FIG. 67A, in accordance with at least one aspect of the presentdisclosure.

FIG. 68 is a perspective view of a sensor tag, in accordance with atleast one aspect of the present disclosure.

FIG. 69A is a schematic view of a sensor tag positioned on a patient, inaccordance with at least one aspect of the present disclosure.

FIG. 69B is a schematic view of a sensor of sensor tags positioned on apatient and an operating table, in accordance with at least one aspectof the present disclosure.

FIG. 69C is a schematic view of a sensor of sensor tags positioned on afirst patient and an operating table, in accordance with at least oneaspect of the present disclosure.

FIG. 69D is a schematic view of a sensor of sensor tags positioned on asecond patient and an operating table, in accordance with at least oneaspect of the present disclosure.

FIG. 69E is a schematic view of a sensor of sensor tags positioned on athird patient and an operating table, in accordance with at least oneaspect of the present disclosure.

FIG. 70 is a schematic view of a robotic surgical system comprising animage sensor to sense a robotic arm positioned within a detection zone,in accordance with at least one aspect of the present disclosure.

FIG. 71 is a perspective view of a pair of scrubs comprising areflective material, in accordance with at least one aspect of thepresent disclosure.

FIG. 72 is an overhead view of a surgical staff member wearing thescrubs of FIG. 71 violating a detection zone with respect to the roboticarm, in accordance with at least one aspect of the present disclosure.

FIG. 73 is a schematic view of a robotic surgical system comprising asensor to sense an identifier position, in accordance with at least oneaspect of the present disclosure.

FIG. 74 is a graph of object distance and robotic surgical system powerverse time, in accordance with at least one aspect of the presentdisclosure.

FIG. 75 is a schematic view of a motor pack comprising interchangeablemotor assemblies, in accordance with at least one aspect of the presentdisclosure.

FIG. 76 is a perspective view of a motor pack housing comprising aremovable cap, in accordance with at least one aspect of the presentdisclosure.

FIG. 77 is an exploded view of a motor pack assembly comprising aremovable motor, in accordance with at least one aspect of the presentdisclosure.

FIG. 78 is an exploded view of the motor pack assembly of FIG. 77 beingcoupled to a surgical instrument handle, in accordance with at least oneaspect of the present disclosure.

FIG. 79 is an exploded view of the surgical instrument handle of FIG. 78being coupled to an end effector assembly of FIG. 80, in accordance withat least one aspect of the present disclosure.

FIG. 80 is a perspective view of an end effector assembly drivable via athree motor system, in accordance with at least one aspect of thepresent disclosure.

FIG. 81A is perspective view of a motor pack sterile barrier, inaccordance with at least one aspect of the present disclosure.

FIG. 81B is perspective view of a motor pack sterile barrier, inaccordance with at least one aspect of the present disclosure.

FIG. 82A is a perspective view of a motor pack comprising an alignmenttab, in accordance with at least one aspect of the present disclosure.

FIG. 82B is a perspective view of a motor pack sterile barrierconfigured to receive the motor pack of FIG. 82A, in accordance with atleast one aspect of the present disclosure.

FIG. 82C is a perspective view of the motor pack sterile barrier of FIG.82B, in accordance with at least one aspect of the present disclosure.

FIG. 83A is a side elevational view of a sterile interface module of arobotic surgical system, in accordance with at least one aspect of thepresent disclosure.

FIG. 83B is a detail view of portion C of FIG. 83A, in accordance withat least one aspect of the present disclosure.

FIG. 84A is an overhead elevational view of a sterile interface module,in accordance with at least one aspect of the present disclosure.

FIG. 84B is a sectional view of an instrument drive unit comprising aninterface couplable to the drive couplers of a sterile interface module,in accordance with at least one aspect of the present disclosure.

FIG. 84C is a perspective view of the instrument drive unit of FIG. 84B,in accordance with at least one aspect of the present disclosure.

FIG. 85A is a perspective view of an instrument drive unit comprising abailout lever, in accordance with at least one aspect of the presentdisclosure.

FIG. 85B is a cutaway view of the instrument drive unit of FIG. 85A, inaccordance with at least one aspect of the present disclosure.

DESCRIPTION

Applicant of the present application owns the following U.S. patentapplications, filed on Jun. 27, 2019, the disclosure of each of which isherein incorporated by reference in its entirety:

-   U.S. patent application Ser. No. 16/454,702, titled METHOD OF USING    A SURGICAL MODULAR ROBOTIC ASSEMBLY, now U.S. Patent Application    Publication No. 2020/0405603;-   U.S. patent application Ser. No. 16/454,710, titled SURGICAL SYSTEMS    WITH INTERCHANGEABLE MOTOR PACKS, now U.S. Pat. No. 11,013,569;-   U.S. patent application Ser. No. 16/454,715, titled COOPERATIVE    ROBOTIC SURGICAL SYSTEMS, now U.S. Patent Application Publication    No. 2020/0405404;-   U.S. patent application Ser. No. 16/454,740, titled HEAT EXCHANGE    SYSTEMS FOR ROBOTIC SURGICAL SYSTEMS, now U.S. Patent Application    Publication No. 2020/0405415;-   U.S. patent application Ser. No. 16/454,780, titled ROBOTIC SURGICAL    ASSEMBLY COUPLING SAFETY MECHANISMS, now U.S. Patent Application    Publication No. 2020/0405408;-   U.S. patent application Ser. No. 16/454,707, titled ROBOTIC SURGICAL    SYSTEM WITH SAFETY AND COOPERATIVE SENSING CONTROL, now U.S. Patent    Application Publication No. 2020/0405375;-   U.S. patent application Ser. No. 16/454,726, titled ROBOTIC SURGICAL    SYSTEM FOR CONTROLLING CLOSE OPERATION OF END-EFFECTORS, now U.S.    Patent Application Publication No. 2020/0405414;-   U.S. patent application Ser. No. 16/454,737, titled ROBOTIC SURGICAL    SYSTEM WITH LOCAL SENSING OF FUNCTIONAL PARAMETERS BASED ON    MEASUREMENTS OF MULTIPLE PHYSICAL INPUTS, now U.S. Patent    Application Publication No. 16/454,737;-   U.S. patent application Ser. No. 16/454,751, titled COOPERATIVE    OPERATION OF ROBOTIC ARMS, now U.S. Patent Application Publication    No. 2020/0405417;-   U.S. patent application Ser. No. 16/454,760, titled SURGICAL    INSTRUMENT DRIVE SYSTEMS, now U.S. Patent Application Publication    No. 2020/0405407;-   U.S. patent application Ser. No. 16/454,769, titled SURGICAL    INSTRUMENT DRIVE SYSTEMS WITH CABLE-TIGHTENING SYSTEM, now U.S.    Patent Application Publication No. 2020/0405422;-   U.S. patent application Ser. No. 16/454,727, titled VISUALIZATION    SYSTEM WITH AUTOMATIC CONTAMINATION DETECTION AND CLEANING CONTROLS,    now U.S. Patent Application Publication No. 2020/0405401; and-   U.S. patent application Ser. No. 16/454,741, titled MULTI-ACCESS    PORT FOR SURGICAL ROBOTIC SYSTEMS, now U.S. Patent Application    Publication No. 2020/0405416.

Applicant of the present application owns the following U.S. patentapplications, filed on Dec. 4, 2018, the disclosure of each of which isherein incorporated by reference in its entirety:

-   U.S. patent application Ser. No. 16/209,385, titled METHOD OF HUB    COMMUNICATION, PROCESSING, STORAGE AND DISPLAY;-   U.S. patent application Ser. No. 16/209,395, titled METHOD OF HUB    COMMUNICATION;-   U.S. patent application Ser. No. 16/209,403, titled METHOD OF CLOUD    BASED DATA ANALYTICS FOR USE WITH THE HUB;-   U.S. patent application Ser. No. 16/209,407, titled METHOD OF    ROBOTIC HUB COMMUNICATION, DETECTION, AND CONTROL;-   U.S. patent application Ser. No. 16/209,416, titled METHOD OF HUB    COMMUNICATION, PROCESSING, DISPLAY, AND CLOUD ANALYTICS;-   U.S. patent application Ser. No. 16/209,423, titled METHOD OF    COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY    DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS;-   U.S. patent application Ser. No. 16/209,427, titled METHOD OF USING    REINFORCED FLEXIBLE CIRCUITS WITH MULTIPLE SENSORS TO OPTIMIZE    PERFORMANCE OF RADIO FREQUENCY DEVICES;-   U.S. patent application Ser. No. 16/209,433, titled METHOD OF    SENSING PARTICULATE FROM SMOKE EVACUATED FROM A PATIENT, ADJUSTING    THE PUMP SPEED BASED ON THE SENSED INFORMATION, AND COMMUNICATING    THE FUNCTIONAL PARAMETERS OF THE SYSTEM TO THE HUB;-   U.S. patent application Ser. No. 16/209,447, titled METHOD FOR SMOKE    EVACUATION FOR SURGICAL HUB;-   U.S. patent application Ser. No. 16/209,453, titled METHOD FOR    CONTROLLING SMART ENERGY DEVICES;-   U.S. patent application Ser. No. 16/209,458, titled METHOD FOR SMART    ENERGY DEVICE INFRASTRUCTURE;-   U.S. patent application Ser. No. 16/209,465, titled METHOD FOR    ADAPTIVE CONTROL SCHEMES FOR SURGICAL NETWORK CONTROL AND    INTERACTION;-   U.S. patent application Ser. No. 16/209,478, titled METHOD FOR    SITUATIONAL AWARENESS FOR SURGICAL NETWORK OR SURGICAL NETWORK    CONNECTED DEVICE CAPABLE OF ADJUSTING FUNCTION BASED ON A SENSED    SITUATION OR USAGE;-   U.S. patent application Ser. No. 16/209,490, titled METHOD FOR    FACILITY DATA COLLECTION AND INTERPRETATION; and-   U.S. patent application Ser. No. 16/209,491, titled METHOD FOR    CIRCULAR STAPLER CONTROL ALGORITHM ADJUSTMENT BASED ON SITUATIONAL    AWARENESS.

Before explaining various aspects of surgical devices and generators indetail, it should be noted that the illustrative examples are notlimited in application or use to the details of construction andarrangement of parts illustrated in the accompanying drawings anddescription. The illustrative examples may be implemented orincorporated in other aspects, variations and modifications, and may bepracticed or carried out in various ways. Further, unless otherwiseindicated, the terms and expressions employed herein have been chosenfor the purpose of describing the illustrative examples for theconvenience of the reader and are not for the purpose of limitationthereof. Also, it will be appreciated that one or more of thefollowing-described aspects, expressions of aspects, and/or examples,can be combined with any one or more of the other following-describedaspects, expressions of aspects and/or examples.

Referring to FIG. 1, a computer-implemented interactive surgical system100 includes one or more surgical systems 102 and a cloud-based system(e.g., the cloud 104 that may include a remote server 113 coupled to astorage device 105). Each surgical system 102 includes at least onesurgical hub 106 in communication with the cloud 104 that may include aremote server 113. In one example, as illustrated in FIG. 1, thesurgical system 102 includes a visualization system 108, a roboticsystem 110, and a handheld intelligent surgical instrument 112, whichare configured to communicate with one another and/or the hub 106. Insome aspects, a surgical system 102 may include an M number of hubs 106,an N number of visualization systems 108, an O number of robotic systems110, and a P number of handheld intelligent surgical instruments 112,where M, N, O, and P are integers greater than or equal to one.

FIG. 3 depicts an example of a surgical system 102 being used to performa surgical procedure on a patient who is lying down on an operatingtable 114 in a surgical operating room 116. A robotic system 110 is usedin the surgical procedure as a part of the surgical system 102. Therobotic system 110 includes a surgeon's console 118, a patient side cart120 (surgical robot), and a surgical robotic hub 122. The patient sidecart 120 can manipulate at least one removably coupled surgical tool 117through a minimally invasive incision in the body of the patient whilethe surgeon views the surgical site through the surgeon's console 118.An image of the surgical site can be obtained by a medical imagingdevice 124, which can be manipulated by the patient side cart 120 toorient the imaging device 124. The robotic hub 122 can be used toprocess the images of the surgical site for subsequent display to thesurgeon through the surgeon's console 118.

Other types of robotic systems can be readily adapted for use with thesurgical system 102. Various examples of robotic systems and surgicaltools that are suitable for use with the present disclosure aredescribed in U.S. Provisional Patent Application Ser. No. 62/611,339,titled ROBOT ASSISTED SURGICAL PLATFORM, filed Dec. 28, 2017, thedisclosure of which is herein incorporated by reference in its entirety.

Various examples of cloud-based analytics that are performed by thecloud 104, and are suitable for use with the present disclosure, aredescribed in U.S. Provisional Patent Application Ser. No. 62/611,340,titled CLOUD-BASED MEDICAL ANALYTICS, filed Dec. 28, 2017, thedisclosure of which is herein incorporated by reference in its entirety.

In various aspects, the imaging device 124 includes at least one imagesensor and one or more optical components. Suitable image sensorsinclude, but are not limited to, Charge-Coupled Device (CCD) sensors andComplementary Metal-Oxide Semiconductor (CMOS) sensors.

The optical components of the imaging device 124 may include one or moreillumination sources and/or one or more lenses. The one or moreillumination sources may be directed to illuminate portions of thesurgical field. The one or more image sensors may receive lightreflected or refracted from the surgical field, including lightreflected or refracted from tissue and/or surgical instruments.

The one or more illumination sources may be configured to radiateelectromagnetic energy in the visible spectrum as well as the invisiblespectrum. The visible spectrum, sometimes referred to as the opticalspectrum or luminous spectrum, is that portion of the electromagneticspectrum that is visible to (i.e., can be detected by) the human eye andmay be referred to as visible light or simply light. A typical human eyewill respond to wavelengths in air that are from about 380 nm to about750 nm.

The invisible spectrum (i.e., the non-luminous spectrum) is that portionof the electromagnetic spectrum that lies below and above the visiblespectrum (i.e., wavelengths below about 380 nm and above about 750 nm).The invisible spectrum is not detectable by the human eye. Wavelengthsgreater than about 750 nm are longer than the red visible spectrum, andthey become invisible infrared (IR), microwave, and radioelectromagnetic radiation. Wavelengths less than about 380 nm areshorter than the violet spectrum, and they become invisible ultraviolet,x-ray, and gamma ray electromagnetic radiation.

In various aspects, the imaging device 124 is configured for use in aminimally invasive procedure. Examples of imaging devices suitable foruse with the present disclosure include, but not limited to, anarthroscope, angioscope, bronchoscope, choledochoscope, colonoscope,cytoscope, duodenoscope, enteroscope, esophagogastro-duodenoscope(gastroscope), endoscope, laryngoscope, nasopharyngo-neproscope,sigmoidoscope, thoracoscope, and ureteroscope.

In one aspect, the imaging device employs multi-spectrum monitoring todiscriminate topography and underlying structures. A multi-spectralimage is one that captures image data within specific wavelength rangesacross the electromagnetic spectrum. The wavelengths may be separated byfilters or by the use of instruments that are sensitive to particularwavelengths, including light from frequencies beyond the visible lightrange, e.g., IR and ultraviolet. Spectral imaging can allow extractionof additional information the human eye fails to capture with itsreceptors for red, green, and blue. The use of multi-spectral imaging isdescribed in greater detail under the heading “Advanced ImagingAcquisition Module” in U.S. Provisional Patent Application Ser. No.62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017,the disclosure of which is herein incorporated by reference in itsentirety. Multi-spectrum monitoring can be a useful tool in relocating asurgical field after a surgical task is completed to perform one or moreof the previously described tests on the treated tissue.

It is axiomatic that strict sterilization of the operating room andsurgical equipment is required during any surgery. The strict hygieneand sterilization conditions required in a “surgical theater,” i.e., anoperating or treatment room, necessitate the highest possible sterilityof all medical devices and equipment. Part of that sterilization processis the need to sterilize anything that comes in contact with the patientor penetrates the sterile field, including the imaging device 124 andits attachments and components. It will be appreciated that the sterilefield may be considered a specified area, such as within a tray or on asterile towel, that is considered free of microorganisms, or the sterilefield may be considered an area, immediately around a patient, who hasbeen prepared for a surgical procedure. The sterile field may includethe scrubbed team members, who are properly attired, and all furnitureand fixtures in the area.

In various aspects, the visualization system 108 includes one or moreimaging sensors, one or more image processing units, one or more storagearrays, and one or more displays that are strategically arranged withrespect to the sterile field, as illustrated in FIG. 2. In one aspect,the visualization system 108 includes an interface for HL7, PACS, andEMR. Various components of the visualization system 108 are describedunder the heading “Advanced Imaging Acquisition Module” in U.S.Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVESURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which isherein incorporated by reference in its entirety.

As illustrated in FIG. 2, a primary display 119 is positioned in thesterile field to be visible to an operator at the operating table 114.In addition, a visualization tower 111 is positioned outside the sterilefield. The visualization tower 111 includes a first non-sterile display107 and a second non-sterile display 109, which face away from eachother. The visualization system 108, guided by the hub 106, isconfigured to utilize the displays 107, 109, and 119 to coordinateinformation flow to operators inside and outside the sterile field. Forexample, the hub 106 may cause the visualization system 108 to display asnap-shot of a surgical site, as recorded by an imaging device 124, on anon-sterile display 107 or 109, while maintaining a live feed of thesurgical site on the primary display 119. The snap-shot on thenon-sterile display 107 or 109 can permit a non-sterile operator toperform a diagnostic step relevant to the surgical procedure, forexample.

In one aspect, the hub 106 is also configured to route a diagnosticinput or feedback entered by a non-sterile operator at the visualizationtower 111 to the primary display 119 within the sterile field, where itcan be viewed by a sterile operator at the operating table. In oneexample, the input can be in the form of a modification to the snap-shotdisplayed on the non-sterile display 107 or 109, which can be routed tothe primary display 119 by the hub 106.

Referring to FIG. 2, a surgical instrument 112 is being used in thesurgical procedure as part of the surgical system 102. The hub 106 isalso configured to coordinate information flow to a display of thesurgical instrument 112. For example, in U.S. Provisional PatentApplication Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM,filed Dec. 28, 2017, the disclosure of which is herein incorporated byreference in its entirety. A diagnostic input or feedback entered by anon-sterile operator at the visualization tower 111 can be routed by thehub 106 to the surgical instrument display 115 within the sterile field,where it can be viewed by the operator of the surgical instrument 112.Example surgical instruments that are suitable for use with the surgicalsystem 102 are described under the heading “Surgical InstrumentHardware” and in U.S. Provisional Patent Application Ser. No.62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017,the disclosure of which is herein incorporated by reference in itsentirety, for example.

Referring now to FIG. 3, a hub 106 is depicted in communication with avisualization system 108, a robotic system 110, and a handheldintelligent surgical instrument 112. The hub 106 includes a hub display135, an imaging module 138, a generator module 140, a communicationmodule 130, a processor module 132, and a storage array 134. In certainaspects, as illustrated in FIG. 3, the hub 106 further includes a smokeevacuation module 126 and/or a suction/irrigation module 128.

During a surgical procedure, energy application to tissue, for sealingand/or cutting, is generally associated with smoke evacuation, suctionof excess fluid, and/or irrigation of the tissue. Fluid, power, and/ordata lines from different sources are often entangled during thesurgical procedure. Valuable time can be lost addressing this issueduring a surgical procedure. Detangling the lines may necessitatedisconnecting the lines from their respective modules, which may requireresetting the modules. The hub modular enclosure 136 offers a unifiedenvironment for managing the power, data, and fluid lines, which reducesthe frequency of entanglement between such lines.

Aspects of the present disclosure present a surgical hub for use in asurgical procedure that involves energy application to tissue at asurgical site. The surgical hub includes a hub enclosure and a combogenerator module slidably receivable in a docking station of the hubenclosure. The docking station includes data and power contacts. Thecombo generator module includes two or more of an ultrasonic energygenerator component, a bipolar RF energy generator component, and amonopolar RF energy generator component that are housed in a singleunit. In one aspect, the combo generator module also includes a smokeevacuation component, at least one energy delivery cable for connectingthe combo generator module to a surgical instrument, at least one smokeevacuation component configured to evacuate smoke, fluid, and/orparticulates generated by the application of therapeutic energy to thetissue, and a fluid line extending from the remote surgical site to thesmoke evacuation component.

In one aspect, the fluid line is a first fluid line and a second fluidline extends from the remote surgical site to a suction and irrigationmodule slidably received in the hub enclosure. In one aspect, the hubenclosure comprises a fluid interface.

Certain surgical procedures may require the application of more than oneenergy type to the tissue. One energy type may be more beneficial forcutting the tissue, while another different energy type may be morebeneficial for sealing the tissue. For example, a bipolar generator canbe used to seal the tissue while an ultrasonic generator can be used tocut the sealed tissue. Aspects of the present disclosure present asolution where a hub modular enclosure 136 is configured to accommodatedifferent generators, and facilitate an interactive communicationtherebetween. One of the advantages of the hub modular enclosure 136 isenabling the quick removal and/or replacement of various modules.

Aspects of the present disclosure present a modular surgical enclosurefor use in a surgical procedure that involves energy application totissue. The modular surgical enclosure includes a first energy-generatormodule, configured to generate a first energy for application to thetissue, and a first docking station comprising a first docking port thatincludes first data and power contacts, wherein the firstenergy-generator module is slidably movable into an electricalengagement with the power and data contacts and wherein the firstenergy-generator module is slidably movable out of the electricalengagement with the first power and data contacts.

Further to the above, the modular surgical enclosure also includes asecond energy-generator module configured to generate a second energy,different than the first energy, for application to the tissue, and asecond docking station comprising a second docking port that includessecond data and power contacts, wherein the second energy-generatormodule is slidably movable into an electrical engagement with the powerand data contacts, and wherein the second energy-generator module isslidably movable out of the electrical engagement with the second powerand data contacts.

In addition, the modular surgical enclosure also includes acommunication bus between the first docking port and the second dockingport, configured to facilitate communication between the firstenergy-generator module and the second energy-generator module.

Referring to FIG. 3, aspects of the present disclosure are presented fora hub modular enclosure 136 that allows the modular integration of agenerator module 140, a smoke evacuation module 126, and asuction/irrigation module 128. The hub modular enclosure 136 furtherfacilitates interactive communication between the modules 140, 126, 128.The generator module 140 can be a generator module with integratedmonopolar, bipolar, and ultrasonic components supported in a singlehousing unit slidably insertable into the hub modular enclosure 136. Invarious aspects, the hub modular enclosure 136 can be configured tofacilitate the insertion of multiple generators and interactivecommunication between the generators docked into the hub modularenclosure 136 so that the generators would act as a single generator.

In one aspect, the hub modular enclosure 136 comprises a modular powerand communication backplane with external and wireless communicationheaders to enable the removable attachment of the modules 140, 126, 128and interactive communication therebetween.

In various aspects, the imaging module 138 comprises an integrated videoprocessor and a modular light source and is adapted for use with variousimaging devices. In one aspect, the imaging device is comprised of amodular housing that can be assembled with a light source module and acamera module. The housing can be a disposable housing. In at least oneexample, the disposable housing is removably coupled to a reusablecontroller, a light source module, and a camera module. The light sourcemodule and/or the camera module can be selectively chosen depending onthe type of surgical procedure. In one aspect, the camera modulecomprises a CCD sensor. In another aspect, the camera module comprises aCMOS sensor. In another aspect, the camera module is configured forscanned beam imaging. Likewise, the light source module can beconfigured to deliver a white light or a different light, depending onthe surgical procedure.

During a surgical procedure, removing a surgical device from thesurgical field and replacing it with another surgical device thatincludes a different camera or a different light source can beinefficient. Temporarily losing sight of the surgical field may lead toundesirable consequences. The module imaging device of the presentdisclosure is configured to permit the replacement of a light sourcemodule or a camera module midstream during a surgical procedure, withouthaving to remove the imaging device from the surgical field.

In one aspect, the imaging device comprises a tubular housing thatincludes a plurality of channels. A first channel is configured toslidably receive the camera module, which can be configured for asnap-fit engagement with the first channel. A second channel isconfigured to slidably receive the light source module, which can beconfigured for a snap-fit engagement with the second channel. In anotherexample, the camera module and/or the light source module can be rotatedinto a final position within their respective channels. A threadedengagement can be employed in lieu of the snap-fit engagement.

In various examples, multiple imaging devices are placed at differentpositions in the surgical field to provide multiple views. The imagingmodule 138 can be configured to switch between the imaging devices toprovide an optimal view. In various aspects, the imaging module 138 canbe configured to integrate the images from the different imaging device.

Various image processors and imaging devices suitable for use with thepresent disclosure are described in U.S. Pat. No. 7,995,045, titledCOMBINED SBI AND CONVENTIONAL IMAGE PROCESSOR, which issued on Aug. 9,2011, which is herein incorporated by reference in its entirety. Inaddition, U.S. Pat. No. 7,982,776, titled SBI MOTION ARTIFACT REMOVALAPPARATUS AND METHOD, which issued on Jul. 19, 2011, which is hereinincorporated by reference in its entirety, describes various systems forremoving motion artifacts from image data. Such systems can beintegrated with the imaging module 138. Furthermore, U.S. PatentApplication Publication No. 2011/0306840, titled CONTROLLABLE MAGNETICSOURCE TO FIXTURE INTRACORPOREAL APPARATUS, which published on Dec. 15,2011, and U.S. Patent Application Publication No. 2014/0243597, titledSYSTEM FOR PERFORMING A MINIMALLY INVASIVE SURGICAL PROCEDURE, whichpublished on Aug. 28, 2014, each of which is herein incorporated byreference in its entirety.

Robotic Surgical System

An example robotic surgical system is depicted in FIGS. 4 and 5. Withreference to FIG. 4, the robotic surgical system 13000 includes roboticarms 13002, 13003, a control device 13004, and a console 13005 coupledto the control device 13004. As illustrated in FIG. 4, the surgicalsystem 13000 is configured for use on a patient 13013 lying on a patienttable 13012 for performance of a minimally invasive surgical operation.The console 13005 includes a display device 13006 and input devices13007, 13008. The display device 13006 is set up to displaythree-dimensional images, and the manual input devices 13007, 13008 areconfigured to allow a clinician to telemanipulate the robotic arms13002, 13003. Controls for a surgeon's console, such as the console13005, are further described in International Patent Publication No.WO2017/075121, filed Oct. 27, 2016, titled HAPTIC FEEDBACK FOR A ROBOTICSURGICAL SYSTEM INTERFACE, which is herein incorporated by reference inits entirety.

Each of the robotic arms 13002, 13003 is made up of a plurality ofmembers connected through joints and includes a surgical assembly 13010connected to a distal end of a corresponding robotic arm 13002, 13003.Support of multiple arms is further described in U.S. Patent ApplicationPublication No. 2017/0071693, filed Nov. 11, 2016, titled SURGICALROBOTIC ARM SUPPORT SYSTEMS AND METHODS OF USE, which is hereinincorporated by reference in its entirety. Various robotic armconfigurations are further described in International Patent PublicationNo. WO2017/044406, filed Sep. 6, 2016, titled ROBOTIC SURGICAL CONTROLSCHEME FOR MANIPULATING ROBOTIC END EFFECTORS, which is hereinincorporated by reference in its entirety. In an exemplification, thesurgical assembly 13010 includes a surgical instrument 13020 supportingan end effector 13023. Although two robotic arms 13002, 13003, aredepicted, the surgical system 13000 may include a single robotic arm ormore than two robotic arms 13002, 13003. Additional robotic arms arelikewise connected to the control device 13004 and are telemanipulatablevia the console 13005. Accordingly, one or more additional surgicalassemblies 13010 and/or surgical instruments 13020 may also be attachedto the additional robotic arm(s).

The robotic arms 13002, 13003 may be driven by electric drives that areconnected to the control device 13004. According to an exemplification,the control device 13004 is configured to activate drives, for example,via a computer program, such that the robotic arms 13002, 13003 and thesurgical assemblies 13010 and/or surgical instruments 13020corresponding to the robotic arms 13002, 13003, execute a desiredmovement received through the manual input devices 13007, 13008. Thecontrol device 13004 may also be configured to regulate movement of therobotic arms 13002, 13003 and/or of the drives.

The control device 13004 may control a plurality of motors (for example,Motor I . . . n) with each motor configured to drive a pushing or apulling of one or more cables, such as cables coupled to the endeffector 13023 of the surgical instrument 13020. In use, as these cablesare pushed and/or pulled, the one or more cables affect operation and/ormovement of the end effector 13023. The control device 13004 coordinatesthe activation of the various motors to coordinate a pushing or apulling motion of one or more cables in order to coordinate an operationand/or movement of one or more end effectors 13023. For example,articulation of an end effector by a robotic assembly such as thesurgical assembly 13010 is further described in U.S. Patent ApplicationPublication No. 2016/0303743, filed Jun. 6, 2016, titled WRIST AND JAWASSEMBLIES FOR ROBOTIC SURGICAL SYSTEMS and in International PatentPublication No. WO2016/144937, filed Mar. 8, 2016, titled MEASURINGHEALTH OF A CONNECTOR MEMBER OF A ROBOTIC SURGICAL SYSTEM, each of whichis herein incorporated by reference in its entirety. In anexemplification, each motor is configured to actuate a drive rod or alever arm to affect operation and/or movement of end effectors 13023 inaddition to, or instead of, one or more cables.

Driver configurations for surgical instruments, such as drivearrangements for a surgical end effector, are further described inInternational Patent Publication No. WO2016/183054, filed May 10, 2016,titled COUPLING INSTRUMENT DRIVE UNIT AND ROBOTIC SURGICAL INSTRUMENT,International Patent Publication No. WO2016/205266, filed Jun. 15, 2016,titled ROBOTIC SURGICAL SYSTEM TORQUE TRANSDUCTION SENSING,International Patent Publication No. WO2016/205452, filed Jun. 16, 2016,titled CONTROLLING ROBOTIC SURGICAL INSTRUMENTS WITH BIDIRECTIONALCOUPLING, and International Patent Publication No. WO2017/053507, filedSep. 22, 2016, titled ELASTIC SURGICAL INTERFACE FOR ROBOTIC SURGICALSYSTEMS, each of which is herein incorporated by reference in itsentirety. The modular attachment of surgical instruments to a driver isfurther described in International Patent Publication No. WO2016/209769,filed Jun. 20, 2016, titled ROBOTIC SURGICAL ASSEMBLIES, which is hereinincorporated by reference in its entirety. Housing configurations for asurgical instrument driver and interface are further described inInternational Patent Publication No. WO2016/144998, filed Mar. 9, 2016,titled ROBOTIC SURGICAL SYSTEMS, INSTRUMENT DRIVE UNITS, AND DRIVEASSEMBLIES, which is herein incorporated by reference in its entirety.Various surgical instrument configurations for use with the robotic arms13002, 13003 are further described in International Patent PublicationNo. WO2017/053358, filed Sep. 21, 2016, titled SURGICAL ROBOTICASSEMBLIES AND INSTRUMENT ADAPTERS THEREOF and International PatentPublication No. WO2017/053363, filed Sep. 21, 2016, titled ROBOTICSURGICAL ASSEMBLIES AND INSTRUMENT DRIVE CONNECTORS THEREOF, each ofwhich is herein incorporated by reference in its entirety. Bipolarinstrument configurations for use with the robotic arms 13002, 13003 arefurther described in International Patent Publication No. WO2017/053698,filed Sep. 23, 2016, titled ROBOTIC SURGICAL ASSEMBLIES ANDELECTROMECHANICAL INSTRUMENTS THEREOF, which is herein incorporated byreference in its entirety. Shaft arrangements for use with the roboticarms 13002, 13003 are further described in International PatentPublication No. WO2017/116793, filed Dec. 19, 2016, titled ROBOTICSURGICAL SYSTEMS AND INSTRUMENT DRIVE ASSEMBLIES, which is hereinincorporated by reference in its entirety.

The control device 13004 includes any suitable logic control circuitadapted to perform calculations and/or operate according to a set ofinstructions. The control device 13004 can be configured to communicatewith a remote system “RS,” either via a wireless (e.g., Wi-Fi,Bluetooth, LTE, etc.) and/or wired connection. The remote system “RS”can include data, instructions and/or information related to the variouscomponents, algorithms, and/or operations of system 13000. The remotesystem “RS” can include any suitable electronic service, database,platform, cloud “C” (see FIG. 4), or the like. The control device 13004may include a central processing unit operably connected to memory. Thememory may include transitory type memory (e.g., RAM) and/ornon-transitory type memory (e.g., flash media, disk media, etc.). Insome exemplifications, the memory is part of, and/or operably coupledto, the remote system “RS.”

The control device 13004 can include a plurality of inputs and outputsfor interfacing with the components of the system 13000, such as througha driver circuit. The control device 13004 can be configured to receiveinput signals and/or generate output signals to control one or more ofthe various components (e.g., one or more motors) of the system 13000.The output signals can include, and/or can be based upon, algorithmicinstructions which may be pre-programmed and/or input by a user. Thecontrol device 13004 can be configured to accept a plurality of userinputs from a user interface (e.g., switches, buttons, touch screen,etc. of operating the console 13005) which may be coupled to remotesystem “RS.”

A memory 13014 can be directly and/or indirectly coupled to the controldevice 13004 to store instructions and/or databases includingpre-operative data from living being(s) and/or anatomical atlas(es). Thememory 13014 can be part of, and/or or operatively coupled to, remotesystem “RS.”

In accordance with an exemplification, the distal end of each roboticarm 13002, 13003 is configured to releasably secure the end effector13023 (or other surgical tool) therein and may be configured to receiveany number of surgical tools or instruments, such as a trocar orretractor, for example.

A simplified functional block diagram of a system architecture 13400 ofthe robotic surgical system 13010 is depicted in FIG. 5. The systemarchitecture 13400 includes a core module 13420, a surgeon master module13430, a robotic arm module 13440, and an instrument module 13450. Thecore module 13420 serves as a central controller for the roboticsurgical system 13000 and coordinates operations of all of the othermodules 13430, 13440, 13450. For example, the core module 13420 mapscontrol devices to the arms 13002, 13003, determines current status,performs all kinematics and frame transformations, and relays resultingmovement commands. In this regard, the core module 13420 receives andanalyzes data from each of the other modules 13430, 13440, 13450 inorder to provide instructions or commands to the other modules 13430,13440, 13450 for execution within the robotic surgical system 13000.Although depicted as separate modules, one or more of the modules 13420,13430, 13440, and 13450 are a single component in otherexemplifications.

The core module 13420 includes models 13422, observers 13424, acollision manager 13426, controllers 13428, and a skeleton 13429. Themodels 13422 include units that provide abstracted representations (baseclasses) for controlled components, such as the motors (for example,Motor I . . . n) and/or the arms 13002, 13003. The observers 13424create state estimates based on input and output signals received fromthe other modules 13430, 13440, 13450. The collision manager 13426prevents collisions between components that have been registered withinthe system 13010. The skeleton 13429 tracks the system 13010 from akinematic and dynamics point of view. For example, the kinematics itemmay be implemented either as forward or inverse kinematics, in anexemplification. The dynamics item may be implemented as algorithms usedto model dynamics of the system's components.

The surgeon master module 13430 communicates with surgeon controldevices at the console 13005 and relays inputs received from the console13005 to the core module 13420. In accordance with an exemplification,the surgeon master module 13430 communicates button status and controldevice positions to the core module 13420 and includes a node controller13432 that includes a state/mode manager 13434, a fail-over controller13436, and a N-degree of freedom (“DOF”) actuator 13438.

The robotic arm module 13440 coordinates operation of a robotic armsubsystem, an arm cart subsystem, a set up arm, and an instrumentsubsystem in order to control movement of a corresponding arm 13002,13003. Although a single robotic arm module 13440 is included, it willbe appreciated that the robotic arm module 13440 corresponds to andcontrols a single arm. As such, additional robotic arm modules 13440 areincluded in configurations in which the system 13010 includes multiplearms 13002, 13003. The robotic arm module 13440 includes a nodecontroller 13442, a state/mode manager 13444, a fail-over controller13446, and a N-degree of freedom (“DOF”) actuator 13348.

The instrument module 13450 controls movement of an instrument and/ortool component attached to the arm 13002, 13003. The instrument module13450 is configured to correspond to and control a single instrument.Thus, in configurations in which multiple instruments are included,additional instrument modules 13450 are likewise included. In anexemplification, the instrument module 13450 obtains and communicatesdata related to the position of the end effector or jaw assembly (whichmay include the pitch and yaw angle of the jaws), the width of or theangle between the jaws, and the position of an access port. Theinstrument module 13450 has a node controller 13452, a state/modemanager 13454, a fail-over controller 13456, and a N-degree of freedom(“DOF”) actuator 13458.

The position data collected by the instrument module 13450 is used bythe core module 13420 to determine when the instrument is within thesurgical site, within a cannula, adjacent to an access port, or above anaccess port in free space. The core module 13420 can determine whetherto provide instructions to open or close the jaws of the instrumentbased on the positioning thereof. For example, when the position of theinstrument indicates that the instrument is within a cannula,instructions are provided to maintain a jaw assembly in a closedposition. When the position of the instrument indicates that theinstrument is outside of an access port, instructions are provided toopen the jaw assembly.

Additional features and operations of a robotic surgical system, such asthe surgical robot system depicted in FIGS. 4 and 5, are furtherdescribed in the following references, each of which is hereinincorporated by reference in its entirety:

-   U.S. Patent Application Publication No. 2016/0303743, filed Jun. 6,    2016, titled WRIST AND JAW ASSEMBLIES FOR ROBOTIC SURGICAL SYSTEMS;-   U.S. Patent Application Publication No. 2017/0071693, filed Nov. 11,    2016, titled SURGICAL ROBOTIC ARM SUPPORT SYSTEMS AND METHODS OF    USE;-   International Patent Publication No. WO2016/144937, filed Mar. 8,    2016, titled MEASURING HEALTH OF A CONNECTOR MEMBER OF A ROBOTIC    SURGICAL SYSTEM;-   International Patent Publication No. WO2016/144998, filed Mar. 9,    2016, titled ROBOTIC SURGICAL SYSTEMS, INSTRUMENT DRIVE UNITS, AND    DRIVE ASSEMBLIES;-   International Patent Publication No. WO2016/183054, filed May 10,    2016, titled COUPLING INSTRUMENT DRIVE UNIT AND ROBOTIC SURGICAL    INSTRUMENT;-   International Patent Publication No. WO2016/205266, filed Jun. 15,    2016, titled ROBOTIC SURGICAL SYSTEM TORQUE TRANSDUCTION SENSING;-   International Patent Publication No. WO2016/205452, filed Jun. 16,    2016, titled CONTROLLING ROBOTIC SURGICAL INSTRUMENTS WITH    BIDIRECTIONAL COUPLING;-   International Patent Publication No. WO2016/209769, filed Jun. 20,    2016, titled ROBOTIC SURGICAL ASSEMBLIES;-   International Patent Publication No. WO2017/044406, filed Sep. 6,    2016, titled ROBOTIC SURGICAL CONTROL SCHEME FOR MANIPULATING    ROBOTIC END EFFECTORS;-   International Patent Publication No. WO2017/053358, filed Sep. 21,    2016, titled SURGICAL ROBOTIC ASSEMBLIES AND INSTRUMENT ADAPTERS    THEREOF;-   International Patent Publication No. WO2017/053363, filed Sep. 21,    2016, titled ROBOTIC SURGICAL ASSEMBLIES AND INSTRUMENT DRIVE    CONNECTORS THEREOF;-   International Patent Publication No. WO2017/053507, filed Sep. 22,    2016, titled ELASTIC SURGICAL INTERFACE FOR ROBOTIC SURGICAL    SYSTEMS;-   International Patent Publication No. WO2017/053698, filed Sep. 23,    2016, titled ROBOTIC SURGICAL ASSEMBLIES AND ELECTROMECHANICAL    INSTRUMENTS THEREOF;-   International Patent Publication No. WO2017/075121, filed Oct. 27,    2016, titled HAPTIC FEEDBACK CONTROLS FOR A ROBOTIC SURGICAL SYSTEM    INTERFACE;-   International Patent Publication No. WO2017/116793, filed Dec. 19,    2016, titled ROBOTIC SURGICAL SYSTEMS AND INSTRUMENT DRIVE    ASSEMBLIES.

The robotic surgical systems and features disclosed herein can beemployed with the robotic surgical system of FIGS. 4 and 5. The readerwill further appreciate that various systems and/or features disclosedherein can also be employed with alternative surgical systems includingthe computer-implemented interactive surgical system 100, thecomputer-implemented interactive surgical system 200, the roboticsurgical system 110, the robotic hub 122, and/or the robotic hub 222,for example.

In various instances, a robotic surgical system can include a roboticcontrol tower, which can house the control unit of the system. Forexample, the control unit 13004 of the robotic surgical system 13000(FIG. 4) can be housed within a robotic control tower. The roboticcontrol tower can include a robotic hub such as the robotic hub 122(FIG. 2) or the robotic hub 222 (FIG. 9), for example. Such a robotichub can include a modular interface for coupling with one or moregenerators, such as an ultrasonic generator and/or a radio frequencygenerator, and/or one or more modules, such as an imaging module,suction module, an irrigation module, a smoke evacuation module, and/ora communication module.

A robotic hub can include a situational awareness module, which can beconfigured to synthesize data from multiple sources to determine anappropriate response to a surgical event. For example, a situationalawareness module can determine the type of surgical procedure, step inthe surgical procedure, type of tissue, and/or tissue characteristics,as further described herein. Moreover, such a module can recommend aparticular course of action or possible choices to the robotic systembased on the synthesized data. In various instances, a sensor systemencompassing a plurality of sensors distributed throughout the roboticsystem can provide data, images, and/or other information to thesituational awareness module. Such a situational awareness module can beincorporated into a control unit, such as the control unit 13004, forexample. In various instances, the situational awareness module canobtain data and/or information from a non-robotic surgical hub and/or acloud, such as the surgical hub 106 (FIG. 1), the surgical hub 206 (FIG.10), the cloud 104 (FIG. 1), and/or the cloud 204 (FIG. 9), for example.Situational awareness of a surgical system is further disclosed hereinand in U.S. Provisional Patent Application Ser. No. 62/611,341, titledINTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, and U.S. ProvisionalPatent Application Ser. No. 62/611,340, titled CLOUD-BASED MEDICALANALYTICS, filed Dec. 28, 2017, the disclosure of each of which isherein incorporated by reference in its entirety.

In certain instances, the activation of a surgical tool at certain timesduring a surgical procedure and/or for certain durations may causetissue trauma and/or may prolong a surgical procedure. For example, arobotic surgical system can utilize an electrosurgical tool having anenergy delivery surface that should only be energized when a thresholdcondition is met. In one example, the energy delivery surface shouldonly be activated when the energy delivery surface is in contact withthe appropriate, or targeted, tissue. As another example, a roboticsurgical system can utilize a suction element that should only beactivated when a threshold condition is met, such as when an appropriatevolume of fluid is present. Due to visibility restrictions, evolvingsituations, and the multitude of moving parts during a robotic surgicalprocedure, it can be difficult for a clinician to determine and/ormonitor certain conditions at the surgical site. For example, it can bedifficult to determine if an energy delivery surface of anelectrosurgical tool is in contact with tissue. It can also be difficultto determine if a particular suctioning pressure is sufficient for thevolume of fluid in the proximity of the suctioning port.

Moreover, a plurality of surgical devices can be used in certain roboticsurgical procedures. For example, a robotic surgical system can use oneor more surgical tools during the surgical procedure. Additionally, oneor more handheld instruments can also be used during the surgicalprocedure. One or more of the surgical devices can include a sensor. Forexample, multiple sensors can be positioned around the surgical siteand/or the operating room. A sensor system including the one or moresensors can be configured to detect one or more conditions at thesurgical site. For example, data from the sensor system can determine ifa surgical tool mounted to the surgical robot is being used and/or if afeature of the surgical tool should be activated. More specifically, asensor system can detect if an electrosurgical device is positioned inabutting contact with tissue, for example. As another example, a sensorsystem can detect if a suctioning element of a surgical tool is applyinga sufficient suctioning force to fluid at the surgical site.

When in an automatic activation mode, the robotic surgical system canautomatically activate one or more features of one or more surgicaltools based on data, images, and/or other information received from thesensor system. For example, an energy delivery surface of anelectrosurgical tool can be activated upon detecting that theelectrosurgical tool is in use (e.g. positioned in abutting contact withtissue). As another example, a suctioning element on a surgical tool canbe activated when the suction port is moved into contact with a fluid.In certain instances, the surgical tool can be adjusted based on thesensed conditions.

A robotic surgical system incorporating an automatic activation mode canautomatically provide a scenario-specific result based on detectedcondition(s) at the surgical site. The scenario-specific result can beoutcome-based, for example, and can streamline the decision-makingprocess of the clinician. In certain instances, such an automaticactivation mode can improve the efficiency and/or effectiveness of theclinician. For example, the robotic surgical system can aggregate datato compile a more complete view of the surgical site and/or the surgicalprocedure in order to determine the best possible course of action.Additionally or alternatively, in instances in which the clinician makesfewer decisions, the clinician can be better focused on other tasksand/or can process other information more effectively.

Referring primarily to FIGS. 6 and 7, hubs 13380, 13382 include wirelesscommunication modules such that a wireless communication link isestablished between the two hubs 13380, 13382. Additionally, the robotichub 13380 is in signal communication with the interactive secondarydisplays 13362, 13364 within the sterile field. The hub 13382 is insignal communication with the handheld surgical instrument 13366. If thesurgeon 13371 moves over towards the patient 13361 and within thesterile field (as indicated by the reference character 13371′), thesurgeon 13371 can use one of the wireless interactive displays 13362,13364 to operate the robot 13372 away from the remote command console13370. The plurality of secondary displays 13362, 13364 within thesterile field allows the surgeon 13371 to move away from the remotecommand console 13370 without losing sight of important information forthe surgical procedure and controls for the robotic tools utilizedtherein.

The interactive secondary displays 13362, 13364 permit the clinician tostep away from the remote command console 13370 and into the sterilefield while maintaining control of the robot 13372. For example, theinteractive secondary displays 13362, 13364 allow the clinician tomaintain cooperative and/or coordinated control over the poweredhandheld surgical instrument(s) 13366 and the robotic surgical system atthe same time. In various instances, information is communicated betweenthe robotic surgical system, one or more powered handheld surgicalinstruments 13366, surgical hubs 13380, 13382, and the interactivesecondary displays 13362, 13364. Such information may include, forexample, the images on the display of the robotic surgical system and/orthe powered handheld surgical instruments, a parameter of the roboticsurgical system and/or the powered handheld surgical instruments, and/ora control command for the robotic surgical system and/or the poweredhandheld surgical instruments.

In various instances, the control unit of the robotic surgical system(e.g. the control unit 13113 of the robotic surgical system 13110) isconfigured to communicate at least one display element from thesurgeon's command console (e.g. the console 13116) to an interactivesecondary display (e.g. the displays 13362, 13364). In other words, aportion of the display at the surgeon's console is replicated on thedisplay of the interactive secondary display, integrating the robotdisplay with the interactive secondary display. The replication of therobot display on to the display of the interactive secondary displayallows the clinician to step away from the remote command consolewithout losing the visual image that is displayed there. For example, atleast one of the interactive secondary displays 13362, 13364 can displayinformation from the robot, such as information from the robot displayand/or the surgeon's command console 13370.

In various instances, the interactive secondary displays 13362, 13364are configured to control and/or adjust at least one operating parameterof the robotic surgical system. Such control can occur automaticallyand/or in response to a clinician input. Interacting with atouch-sensitive screen and/or buttons on the interactive secondarydisplay(s) 13362, 13364, the clinician is able to input a command tocontrol movement and/or functionality of the one or more robotic tools.For example, when utilizing a handheld surgical instrument 13366, theclinician may want to move the robotic tool 13374 to a differentposition. To control the robotic tool 13374, the clinician applies aninput to the interactive secondary display(s) 13362, 13364, and therespective interactive secondary display(s) 13362, 13364 communicatesthe clinician input to the control unit of the robotic surgical systemin the robotic hub 13380.

In various instances, a clinician positioned at the remote commandconsole 13370 of the robotic surgical system can manually override anyrobot command initiated by a clinician input on the one or moreinteractive secondary displays 13362, 13364. For example, when aclinician input is received from the one or more interactive secondarydisplays 13362, 13364, a clinician positioned at the remote commandconsole 13370 can either allow the command to be issued and the desiredfunction performed or the clinician can override the command byinteracting with the remote command console 13370 and prohibiting thecommand from being issued.

In certain instances, a clinician within the sterile field can berequired to request permission to control the robot 13372 and/or therobotic tool 13374 mounted thereto. The surgeon 13371 at the remotecommand console 13370 can grant or deny the clinician's request. Forexample, the surgeon can receive a pop-up or other notificationindicating the permission is being requested by another clinicianoperating a handheld surgical instrument and/or interacting with aninteractive secondary display 13362, 13364.

In various instances, the processor of a robotic surgical system, suchas the robotic surgical systems 13000 (FIG. 4), 13400 (FIG. 5), 13360(FIG. 6), and/or the surgical hub 13380, 13382, for example, isprogrammed with pre-approved functions of the robotic surgical system.For example, if a clinician input from the interactive secondary display13362, 13364 corresponds to a pre-approved function, the roboticsurgical system allows for the interactive secondary display 13362,13364 to control the robotic surgical system and/or does not prohibitthe interactive secondary display 13362, 13364 from controlling therobotic surgical system. If a clinician input from the interactivesecondary display 13362, 13364 does not correspond to a pre-approvedfunction, the interactive secondary display 13362, 13364 is unable tocommand the robotic surgical system to perform the desired function. Inone instances, a situational awareness module in the robotic hub 13370and/or the surgical hub 13382 is configured to dictate and/or influencewhen the interactive secondary display can issue control motions to therobot surgical system.

In various instances, an interactive secondary display 13362, 13364 hascontrol over a portion of the robotic surgical system upon makingcontact with the portion of the robotic surgical system. For example,when the interactive secondary display 13362, 13364 is brought intocontact with the robotic tool 13374, control of the contacted robotictool 13374 is granted to the interactive secondary display 13362, 13364.A clinician can then utilize a touch-sensitive screen and/or buttons onthe interactive secondary display 13362, 13364 to input a command tocontrol movement and/or functionality of the contacted robotic tool13374. This control scheme allows for a clinician to reposition arobotic arm, reload a robotic tool, and/or otherwise reconfigure therobotic surgical system. In a similar manner as discussed above, theclinician 13371 positioned at the remote command console 13370 of therobotic surgical system can manually override any robot commandinitiated by the interactive secondary display 13362, 13364.

In one aspect, the robotic surgical system includes a processor and amemory communicatively coupled to the processor, as described herein.The memory stores instructions executable by the processor to receive afirst user input from a console and to receive a second user input froma mobile wireless control module for controlling a function of a roboticsurgical tool, as described herein.

In various aspects, the present disclosure provides a control circuit toreceive a first user input from a console and to receive a second userinput from a mobile wireless control module for controlling a functionof a robotic surgical tool, as described herein. In various aspects, thepresent disclosure provides a non-transitory computer readable mediumstoring computer readable instructions which, when executed, cause amachine to receive a first user input from a console and to receive asecond user input from a mobile wireless control module for controllinga function of a robotic surgical tool, as described herein.

A robotic surgical system may include multiple robotic arms that areconfigured to assist the clinician during a surgical procedure. Eachrobotic arm may be operable independently of the others. A lack ofcommunication may exist between each of the robotic arms as they areindependently operated, which may increase the risk of tissue trauma.For example, in a scenario where one robotic arm is configured to applya force that is stronger and in a different direction than a forceconfigured to be applied by a second robotic arm, tissue trauma canresult. For example, tissue trauma and/or tearing may occur when a firstrobotic arm applies a strong retracting force to the tissue while asecond robotic arm is configured to rigidly hold the tissue in place.

In various instances, one or more sensors are attached to each roboticarm of a robotic surgical system. The one or more sensors are configuredto sense a force applied to the surrounding tissue during the operationof the robotic arm. Such forces can include, for example, a holdingforce, a retracting force, and/or a dragging force. The sensor from eachrobotic arm is configured to communicate the magnitude and direction ofthe detected force to a control unit of the robotic surgical system. Thecontrol unit is configured to analyze the communicated forces and setlimits for maximum loads to avoid causing trauma to the tissue in asurgical site. For example, the control unit may minimize the holdingforce applied by a first robotic arm if the retracting or dragging forceapplied by a second robotic arm increases.

FIG. 4a illustrates an exemplification of a robotic arm 13120 and a toolassembly 13130 releasably coupled to the robotic arm 13120. The roboticarm 13120 can support and move the associated tool assembly 13130 alongone or more mechanical degrees of freedom (e.g., all six Cartesiandegrees of freedom, five or fewer Cartesian degrees of freedom, etc.).

The robotic arm 13120 can include a tool driver 13140 at a distal end ofthe robotic arm 13120, which can assist with controlling featuresassociated with the tool assembly 13130. The robotic arm 13120 can alsoinclude a movable tool guide 13132 that can retract and extend relativeto the tool driver 13140. A shaft of the tool assembly 13130 can extendparallel to a threaded shaft of the movable tool guide 13132 and canextend through a distal end feature 13133 (e.g., a ring) of the movabletool guide 13132 and into a patient.

In order to provide a sterile operation area while using the surgicalsystem, a barrier can be placed between the actuating portion of thesurgical system (e.g., the robotic arm 13120) and the surgicalinstruments (e.g., the tool assembly 13130) in the sterile surgicalfield. A sterile component, such as an instrument sterile adapter (ISA),can also be placed at the connecting interface between the tool assembly13130 and the robotic arm 13120, The placement of an ISA between thetool assembly 13130 and the robotic arm 13120 can ensure a sterilecoupling point for the tool assembly 13130 and the robotic arm 13120.This permits removal of tool assemblies 13130 from the robotic arm 13120to exchange with other tool assemblies 13130 during the course of asurgery without compromising the sterile surgical field.

The tool assembly 13130 can be loaded from a top side of the tool driver13140 with the shaft of the tool assembly 13130 being positioned in ashaft-receiving channel 13144 formed along the side of the tool driver13140. The shaft-receiving channel 13144 allows the shaft, which extendsalong a central axis of the tool assembly 13130, to extend along acentral axis of the tool driver 13140 when the tool assembly 13130 iscoupled to the tool driver 13140, In other exemplifications, the shaftcan extend through on opening in the tool driver 13140, or the twocomponents can mate in various other configurations.

As discussed above, the robotic surgical system can include one or morerobotic arms with each robotic arm having a tool assembly coupledthereto. Each tool assembly can include an end effector that has one ormore of a variety of features, such as one or more tools for assistingwith performing a surgical procedure. For example, the end effector caninclude a cutting or boring tool that can be used to perforate or cutthrough tissue (e.g., create an incision).

Furthermore, some end effectors include one or more sensors that cansense a variety of characteristics associated with either the endeffector or the tissue. Each robotic arm and end effector can becontrolled by a control system to assist with creating a desired cut orbore and prevent against undesired cutting of tissue. As an alternativeto (or in addition to) controlling the robotic arm, it is understoodthat the control system can control either the tool itself or the toolassembly.

One or more aspects associated with the movement of the robotic arm canbe controlled by the control system, such as either a direction or avelocity of movement. For example, when boring through tissue, therobotic arm can be controlled to perform jackhammer-like movements withthe cutting tool. Such jackhammer movements can include the robotic armmoving up and down along an axis (e.g., an axis that is approximatelyperpendicular to the tissue being perforated) in a rapid motion whilealso advancing the cutting tool in a downward direction towards thetissue to eventually perforate the tissue with the cutting tool (e.g. anultrasonic blade). While performing such movements in a robotic surgicalprocedure, not only can it be difficult to see the tissue beingperforated to thereby determine a relative position of the cutting tool,but it can also be difficult to determine when the cutting tool hascompleted perforating the tissue. Such position of the cutting toolrelative to the tissue can include the cutting tool approaching or notyet in contact with the tissue, the cutting tool drilling down orcutting into the tissue, and the cutting tool extending through orhaving perforated the tissue. These positions can be difficult foreither a user controlling the robotic arm or the robotic surgical systemto determine which can result in potential harm to the patient due toover or under-penetrating the tissue, as well as result in longerprocedure times. As such, in order to reduce procedure time and surgicalerrors, the robotic surgical system includes a control system thatcommunicates with at least one sensor assembly configured to sense aforce applied at a distal end of the end effector or cutting tool. Thecontrol system can thereby determine and control, based on such sensedforces, one or more appropriate aspects associated with the movement ofthe robotic arm, such as when boring or cutting into tissue, as will bedescribed in greater detail below.

Although a cutting tool for perforating tissue is described in detailherein, the sensor assembly of the present disclosure that is incommunication with the control system can be implemented in any numberof robotic surgical systems for detecting any number of a variety oftools and/or end effectors used for performing any number of a varietyof procedures without departing from the scope of this disclosure.Furthermore, any number of movements can be performed by the robotic armto perforate or cut tissue using the robotic surgical system includingthe sensor assembly and control system described herein and is notlimited to the jackhammering or boring of tissue.

FIG. 4a and additional exemplifications are further described in U.S.patent application Ser. No. 15/237,753, entitled CONTROL OF ADVANCEMENTRATE AND APPLICATION FORCE BASED ON MEASURED FORCES, filed Aug. 16,2016, the entire disclosure of which is incorporated by referenceherein.

The entire disclosures of:

-   U.S. Pat. No. 9,072,535, filed May 27, 2011, entitled SURGICAL    STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,    which issued Jul. 7, 2015;-   U.S. Pat. No. 9,072,536, filed Jun. 28, 2012, entitled DIFFERENTIAL    LOCKING ARRANGEMENTS FOR ROTARY POWERED SURGICAL INSTRUMENTS, which    issued Jul. 7, 2015;-   U.S. Pat. No. 9,204,879, filed Jun. 28, 2012, entitled FLEXIBLE    DRIVE MEMBER, which issued on Dec. 8, 2015;-   U.S. Pat. No. 9,561,038, filed Jun. 28, 2012, entitled    INTERCHANGEABLE CLIP APPLIER, which issued on Feb. 7, 2017;-   U.S. Pat. No. 9,757,128, filed Sep. 5, 2014, entitled MULTIPLE    SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR    INTERPRETATION, which issued on Sep. 12, 2017;-   U.S. patent application Ser. No. 14/640,935, entitled OVERLAID MULTI    SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE    COMPRESSION, filed Mar. 6, 2015, now U.S. Patent Application    Publication No. 2016/0256071;-   U.S. patent application Ser. No. 15/382,238, entitled MODULAR    BATTERY POWERED HANDHELD SURGICAL INSTRUMENT WITH SELECTIVE    APPLICATION OF ENERGY BASED ON TISSUE CHARACTERIZATION, filed Dec.    16, 2016, now U.S. Patent Application Publication No. 2017/0202591;    and-   U.S. patent application Ser. No. 15/237,753, entitled CONTROL OF    ADVANCEMENT RATE AND APPLICATION FORCE BASED ON MEASURED FORCES,    filed Aug. 16, 2016 are hereby incorporated by reference herein in    their respective entireties.

The surgical devices, systems, and methods disclosed herein can beimplemented with a variety of different robotic surgical systems andsurgical devices. Surgical devices include robotic surgical tools andhandheld surgical instruments. The reader will readily appreciate thatcertain devices, systems, and methods disclosed herein are not limitedto applications within a robotic surgical system. For example, certainsystems, devices, and methods for communicating, detecting, and/orcontrol a surgical device can be implemented without a robotic surgicalsystem.

Surgical Network

FIG. 8 illustrates a surgical data network 201 comprising a modularcommunication hub 203 configured to connect modular devices located inone or more operating theaters of a healthcare facility, or any room ina healthcare facility specially equipped for surgical operations, to acloud-based system (e.g., the cloud 204 that may include a remote server213 coupled to a storage device 205). In one aspect, the modularcommunication hub 203 comprises a network hub 207 and/or a networkswitch 209 in communication with a network router. The modularcommunication hub 203 also can be coupled to a local computer system 210to provide local computer processing and data manipulation. The surgicaldata network 201 may be configured as passive, intelligent, orswitching. A passive surgical data network serves as a conduit for thedata, enabling it to go from one device (or segment) to another and tothe cloud computing resources. An intelligent surgical data networkincludes additional features to enable the traffic passing through thesurgical data network to be monitored and to configure each port in thenetwork hub 207 or network switch 209. An intelligent surgical datanetwork may be referred to as a manageable hub or switch. A switchinghub reads the destination address of each packet and then forwards thepacket to the correct port.

Modular devices 1 a-1 n located in the operating theater may be coupledto the modular communication hub 203. The network hub 207 and/or thenetwork switch 209 may be coupled to a network router 211 to connect thedevices 1 a-1 n to the cloud 204 or the local computer system 210. Dataassociated with the devices 1 a-1 n may be transferred to cloud-basedcomputers via the router for remote data processing and manipulation.Data associated with the devices 1 a-1 n may also be transferred to thelocal computer system 210 for local data processing and manipulation.Modular devices 2 a-2 m located in the same operating theater also maybe coupled to a network switch 209. The network switch 209 may becoupled to the network hub 207 and/or the network router 211 to connectto the devices 2 a-2 m to the cloud 204. Data associated with thedevices 2 a-2 n may be transferred to the cloud 204 via the networkrouter 211 for data processing and manipulation. Data associated withthe devices 2 a-2 m may also be transferred to the local computer system210 for local data processing and manipulation.

It will be appreciated that the surgical data network 201 may beexpanded by interconnecting multiple network hubs 207 and/or multiplenetwork switches 209 with multiple network routers 211. The modularcommunication hub 203 may be contained in a modular control towerconfigured to receive multiple devices 1 a-1 n/2 a-2 m. The localcomputer system 210 also may be contained in a modular control tower.The modular communication hub 203 is connected to a display 212 todisplay images obtained by some of the devices 1 a-1 n/2 a-2 m, forexample during surgical procedures. In various aspects, the devices 1a-1 n/2 a-2 m may include, for example, various modules such as animaging module 138 coupled to an endoscope, a generator module 140coupled to an energy-based surgical device, a smoke evacuation module126, a suction/irrigation module 128, a communication module 130, aprocessor module 132, a storage array 134, a surgical device coupled toa display, and/or a non-contact sensor module, among other modulardevices that may be connected to the modular communication hub 203 ofthe surgical data network 201.

In one aspect, the surgical data network 201 may comprise a combinationof network hub(s), network switch(es), and network router(s) connectingthe devices 1 a-1 n/2 a-2 m to the cloud. Any one of or all of thedevices 1 a-1 n/2 a-2 m coupled to the network hub or network switch maycollect data in real time and transfer the data to cloud computers fordata processing and manipulation. It will be appreciated that cloudcomputing relies on sharing computing resources rather than having localservers or personal devices to handle software applications. The word“cloud” may be used as a metaphor for “the Internet,” although the termis not limited as such. Accordingly, the term “cloud computing” may beused herein to refer to “a type of Internet-based computing,” wheredifferent services—such as servers, storage, and applications—aredelivered to the modular communication hub 203 and/or computer system210 located in the surgical theater (e.g., a fixed, mobile, temporary,or field operating room or space) and to devices connected to themodular communication hub 203 and/or computer system 210 through theInternet. The cloud infrastructure may be maintained by a cloud serviceprovider. In this context, the cloud service provider may be the entitythat coordinates the usage and control of the devices 1 a-1 n/2 a-2 mlocated in one or more operating theaters. The cloud computing servicescan perform a large number of calculations based on the data gathered bysmart surgical instruments, robots, and other computerized deviceslocated in the operating theater. The hub hardware enables multipledevices or connections to be connected to a computer that communicateswith the cloud computing resources and storage.

Applying cloud computer data processing techniques on the data collectedby the devices 1 a-1 n/2 a-2 m, the surgical data network providesimproved surgical outcomes, reduced costs, and improved patientsatisfaction. At least some of the devices 1 a-1 n/2 a-2 m may beemployed to view tissue states to assess leaks or perfusion of sealedtissue after a tissue sealing and cutting procedure. At least some ofthe devices 1 a-1 n/2 a-2 m may be employed to identify pathology, suchas the effects of diseases, using the cloud-based computing to examinedata including images of samples of body tissue for diagnostic purposes.This includes localization and margin confirmation of tissue andphenotypes. At least some of the devices 1 a-1 n/2 a-2 m may be employedto identify anatomical structures of the body using a variety of sensorsintegrated with imaging devices and techniques such as overlaying imagescaptured by multiple imaging devices. The data gathered by the devices 1a-1 n/2 a-2 m, including image data, may be transferred to the cloud 204or the local computer system 210 or both for data processing andmanipulation including image processing and manipulation. The data maybe analyzed to improve surgical procedure outcomes by determining iffurther treatment, such as the application of endoscopic intervention,emerging technologies, a targeted radiation, targeted intervention, andprecise robotics to tissue-specific sites and conditions, may bepursued. Such data analysis may further employ outcome analyticsprocessing, and using standardized approaches may provide beneficialfeedback to either confirm surgical treatments and the behavior of thesurgeon or suggest modifications to surgical treatments and the behaviorof the surgeon.

In one implementation, the operating theater devices 1 a-1 n may beconnected to the modular communication hub 203 over a wired channel or awireless channel depending on the configuration of the devices 1 a-1 nto a network hub. The network hub 207 may be implemented, in one aspect,as a local network broadcast device that works on the physical layer ofthe Open System Interconnection (OSI) model. The network hub providesconnectivity to the devices 1 a-1 n located in the same operatingtheater network. The network hub 207 collects data in the form ofpackets and sends them to the router in half duplex mode. The networkhub 207 does not store any media access control/internet protocol(MAC/IP) to transfer the device data. Only one of the devices 1 a-1 ncan send data at a time through the network hub 207. The network hub 207has no routing tables or intelligence regarding where to sendinformation and broadcasts all network data across each connection andto a remote server 213 (FIG. 9) over the cloud 204. The network hub 207can detect basic network errors such as collisions, but having allinformation broadcast to multiple ports can be a security risk and causebottlenecks.

In another implementation, the operating theater devices 2 a-2 m may beconnected to a network switch 209 over a wired channel or a wirelesschannel. The network switch 209 works in the data link layer of the OSImodel. The network switch 209 is a multicast device for connecting thedevices 2 a-2 m located in the same operating theater to the network.The network switch 209 sends data in the form of frames to the networkrouter 211 and works in full duplex mode. Multiple devices 2 a-2 m cansend data at the same time through the network switch 209. The networkswitch 209 stores and uses MAC addresses of the devices 2 a-2 m totransfer data.

The network hub 207 and/or the network switch 209 are coupled to thenetwork router 211 for connection to the cloud 204. The network router211 works in the network layer of the OSI model. The network router 211creates a route for transmitting data packets received from the networkhub 207 and/or network switch 211 to cloud-based computer resources forfurther processing and manipulation of the data collected by any one ofor all the devices 1 a-1 n/2 a-2 m. The network router 211 may beemployed to connect two or more different networks located in differentlocations, such as, for example, different operating theaters of thesame healthcare facility or different networks located in differentoperating theaters of different healthcare facilities. The networkrouter 211 sends data in the form of packets to the cloud 204 and worksin full duplex mode. Multiple devices can send data at the same time.The network router 211 uses IP addresses to transfer data.

In one example, the network hub 207 may be implemented as a USB hub,which allows multiple USB devices to be connected to a host computer.The USB hub may expand a single USB port into several tiers so thatthere are more ports available to connect devices to the host systemcomputer. The network hub 207 may include wired or wireless capabilitiesto receive information over a wired channel or a wireless channel. Inone aspect, a wireless USB short-range, high-bandwidth wireless radiocommunication protocol may be employed for communication between thedevices 1 a-1 n and devices 2 a-2 m located in the operating theater.

In other examples, the operating theater devices 1 a-1 n/2 a-2 m maycommunicate to the modular communication hub 203 via Bluetooth wirelesstechnology standard for exchanging data over short distances (usingshort-wavelength UHF radio waves in the ISM band from 2.4 to 2.485 GHz)from fixed and mobile devices and building personal area networks(PANs). In other aspects, the operating theater devices 1 a-1 n/2 a-2 mmay communicate to the modular communication hub 203 via a number ofwireless or wired communication standards or protocols, including butnot limited to Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family),IEEE 802.20, long-term evolution (LTE), and Ev-DO, HSPA+, HSDPA+,HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, and Ethernet derivativesthereof, as well as any other wireless and wired protocols that aredesignated as 3G, 4G, 5G, and beyond. The computing module may include aplurality of communication modules. For instance, a first communicationmodule may be dedicated to shorter-range wireless communications such asWi-Fi and Bluetooth, and a second communication module may be dedicatedto longer-range wireless communications such as GPS, EDGE, GPRS, CDMA,WiMAX, LTE, Ev-DO, and others.

The modular communication hub 203 may serve as a central connection forone or all of the operating theater devices 1 a-1 n/2 a-2 m and handlesa data type known as frames. Frames carry the data generated by thedevices 1 a-1 n/2 a-2 m. When a frame is received by the modularcommunication hub 203, it is amplified and transmitted to the networkrouter 211, which transfers the data to the cloud computing resources byusing a number of wireless or wired communication standards orprotocols, as described herein.

The modular communication hub 203 can be used as a standalone device orbe connected to compatible network hubs and network switches to form alarger network. The modular communication hub 203 is generally easy toinstall, configure, and maintain, making it a good option for networkingthe operating theater devices 1 a-1 n/2 a-2 m.

FIG. 9 illustrates a computer-implemented interactive surgical system200. The computer-implemented interactive surgical system 200 is similarin many respects to the computer-implemented interactive surgical system100. For example, the computer-implemented interactive surgical system200 includes one or more surgical systems 202, which are similar in manyrespects to the surgical systems 102. Each surgical system 202 includesat least one surgical hub 206 in communication with a cloud 204 that mayinclude a remote server 213. In one aspect, the computer-implementedinteractive surgical system 200 comprises a modular control tower 236connected to multiple operating theater devices such as, for example,intelligent surgical instruments, robots, and other computerized deviceslocated in the operating theater. As shown in FIG. 10, the modularcontrol tower 236 comprises a modular communication hub 203 coupled to acomputer system 210. As illustrated in the example of FIG. 9, themodular control tower 236 is coupled to an imaging module 238 that iscoupled to an endoscope 239, a generator module 240 that is coupled toan energy device 241, a smoke evacuator module 226, a suction/irrigationmodule 228, a communication module 230, a processor module 232, astorage array 234, a smart device/instrument 235 optionally coupled to adisplay 237, and a non-contact sensor module 242. The operating theaterdevices are coupled to cloud computing resources and data storage viathe modular control tower 236. A robot hub 222 also may be connected tothe modular control tower 236 and to the cloud computing resources. Thedevices/instruments 235, visualization systems 208, among others, may becoupled to the modular control tower 236 via wired or wirelesscommunication standards or protocols, as described herein. The modularcontrol tower 236 may be coupled to a hub display 215 (e.g., monitor,screen) to display and overlay images received from the imaging module,device/instrument display, and/or other visualization systems 208. Thehub display also may display data received from devices connected to themodular control tower in conjunction with images and overlaid images.

FIG. 10 illustrates a surgical hub 206 comprising a plurality of modulescoupled to the modular control tower 236. The modular control tower 236comprises a modular communication hub 203, e.g., a network connectivitydevice, and a computer system 210 to provide local processing,visualization, and imaging, for example. As shown in FIG. 10, themodular communication hub 203 may be connected in a tiered configurationto expand the number of modules (e.g., devices) that may be connected tothe modular communication hub 203 and transfer data associated with themodules to the computer system 210, cloud computing resources, or both.As shown in FIG. 10, each of the network hubs/switches in the modularcommunication hub 203 includes three downstream ports and one upstreamport. The upstream network hub/switch is connected to a processor toprovide a communication connection to the cloud computing resources anda local display 217. Communication to the cloud 204 may be made eitherthrough a wired or a wireless communication channel.

The surgical hub 206 employs a non-contact sensor module 242 to measurethe dimensions of the operating theater and generate a map of thesurgical theater using either ultrasonic or laser-type non-contactmeasurement devices. An ultrasound-based non-contact sensor module scansthe operating theater by transmitting a burst of ultrasound andreceiving the echo when it bounces off the perimeter walls of anoperating theater as described under the heading “Surgical Hub SpatialAwareness Within an Operating Room” in U.S. Provisional PatentApplication Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM,filed Dec. 28, 2017, the disclosure of which is herein incorporated byreference in its entirety, in which the sensor module is configured todetermine the size of the operating theater and to adjustBluetooth-pairing distance limits. A laser-based non-contact sensormodule scans the operating theater by transmitting laser light pulses,receiving laser light pulses that bounce off the perimeter walls of theoperating theater, and comparing the phase of the transmitted pulse tothe received pulse to determine the size of the operating theater and toadjust Bluetooth pairing distance limits, for example.

The computer system 210 comprises a processor 244 and a networkinterface 245. The processor 244 is coupled to a communication module247, storage 248, memory 249, non-volatile memory 250, and input/outputinterface 251 via a system bus. The system bus can be any of severaltypes of bus structure(s) including the memory bus or memory controller,a peripheral bus or external bus, and/or a local bus using any varietyof available bus architectures including, but not limited to, 9-bit bus,Industrial Standard Architecture (ISA), Micro-Charmel Architecture(MSA), Extended ISA (EISA), Intelligent Drive Electronics (IDE), VESALocal Bus (VLB), Peripheral Component Interconnect (PCI), USB, AdvancedGraphics Port (AGP), Personal Computer Memory Card InternationalAssociation bus (PCMCIA), Small Computer Systems Interface (SCSI), orany other proprietary bus.

The processor 244 may be any single-core or multicore processor such asthose known under the trade name ARM Cortex by Texas Instruments. In oneaspect, the processor may be an LM4F230H5QR ARM Cortex-M4F ProcessorCore, available from Texas Instruments, for example, comprising anon-chip memory of 256 KB single-cycle flash memory, or othernon-volatile memory, up to 40 MHz, a prefetch buffer to improveperformance above 40 MHz, a 32 KB single-cycle serial random accessmemory (SRAM), an internal read-only memory (ROM) loaded withStellarisWare® software, a 2 KB electrically erasable programmableread-only memory (EEPROM), and/or one or more pulse width modulation(PWM) modules, one or more quadrature encoder inputs (QEI) analogs, oneor more 12-bit analog-to-digital converters (ADCs) with 12 analog inputchannels, details of which are available for the product datasheet.

In one aspect, the processor 244 may comprise a safety controllercomprising two controller-based families such as TMS570 and RM4x, knownunder the trade name Hercules ARM Cortex R4, also by Texas Instruments.The safety controller may be configured specifically for IEC 61508 andISO 26262 safety critical applications, among others, to provideadvanced integrated safety features while delivering scalableperformance, connectivity, and memory options.

The system memory includes volatile memory and non-volatile memory. Thebasic input/output system (BIOS), containing the basic routines totransfer information between elements within the computer system, suchas during start-up, is stored in non-volatile memory. For example, thenon-volatile memory can include ROM, programmable ROM (PROM),electrically programmable ROM (EPROM), EEPROM, or flash memory. Volatilememory includes random-access memory (RAM), which acts as external cachememory. Moreover, RAM is available in many forms such as SRAM, dynamicRAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and directRambus RAM (DRRAM).

The computer system 210 also includes removable/non-removable,volatile/non-volatile computer storage media, such as for example diskstorage. The disk storage includes, but is not limited to, devices likea magnetic disk drive, floppy disk drive, tape drive, Jaz drive, Zipdrive, LS-60 drive, flash memory card, or memory stick. In addition, thedisk storage can include storage media separately or in combination withother storage media including, but not limited to, an optical disc drivesuch as a compact disc ROM device (CD-ROM), compact disc recordabledrive (CD-R Drive), compact disc rewritable drive (CD-RW Drive), or adigital versatile disc ROM drive (DVD-ROM). To facilitate the connectionof the disk storage devices to the system bus, a removable ornon-removable interface may be employed.

It is to be appreciated that the computer system 210 includes softwarethat acts as an intermediary between users and the basic computerresources described in a suitable operating environment. Such softwareincludes an operating system. The operating system, which can be storedon the disk storage, acts to control and allocate resources of thecomputer system. System applications take advantage of the management ofresources by the operating system through program modules and programdata stored either in the system memory or on the disk storage. It is tobe appreciated that various components described herein can beimplemented with various operating systems or combinations of operatingsystems.

A user enters commands or information into the computer system 210through input device(s) coupled to the I/O interface 251. The inputdevices include, but are not limited to, a pointing device such as amouse, trackball, stylus, touch pad, keyboard, microphone, joystick,game pad, satellite dish, scanner, TV tuner card, digital camera,digital video camera, web camera, and the like. These and other inputdevices connect to the processor through the system bus via interfaceport(s). The interface port(s) include, for example, a serial port, aparallel port, a game port, and a USB. The output device(s) use some ofthe same types of ports as input device(s). Thus, for example, a USBport may be used to provide input to the computer system and to outputinformation from the computer system to an output device. An outputadapter is provided to illustrate that there are some output deviceslike monitors, displays, speakers, and printers, among other outputdevices that require special adapters. The output adapters include, byway of illustration and not limitation, video and sound cards thatprovide a means of connection between the output device and the systembus. It should be noted that other devices and/or systems of devices,such as remote computer(s), provide both input and output capabilities.

The computer system 210 can operate in a networked environment usinglogical connections to one or more remote computers, such as cloudcomputer(s), or local computers. The remote cloud computer(s) can be apersonal computer, server, router, network PC, workstation,microprocessor-based appliance, peer device, or other common networknode, and the like, and typically includes many or all of the elementsdescribed relative to the computer system. For purposes of brevity, onlya memory storage device is illustrated with the remote computer(s). Theremote computer(s) is logically connected to the computer system througha network interface and then physically connected via a communicationconnection. The network interface encompasses communication networkssuch as local area networks (LANs) and wide area networks (WANs). LANtechnologies include Fiber Distributed Data Interface (FDDI), CopperDistributed Data Interface (CDDI), Ethernet/IEEE 802.3, Token Ring/IEEE802.5 and the like. WAN technologies include, but are not limited to,point-to-point links, circuit-switching networks like IntegratedServices Digital Networks (ISDN) and variations thereon,packet-switching networks, and Digital Subscriber Lines (DSL).

In various aspects, the computer system 210 of FIG. 10, the imagingmodule 238 and/or visualization system 208, and/or the processor module232 of FIGS. 9-10, may comprise an image processor, image processingengine, media processor, or any specialized digital signal processor(DSP) used for the processing of digital images. The image processor mayemploy parallel computing with single instruction, multiple data (SIMD)or multiple instruction, multiple data (MIMD) technologies to increasespeed and efficiency. The digital image processing engine can perform arange of tasks. The image processor may be a system on a chip withmulticore processor architecture.

The communication connection(s) refers to the hardware/software employedto connect the network interface to the bus. While the communicationconnection is shown for illustrative clarity inside the computer system,it can also be external to the computer system 210. Thehardware/software necessary for connection to the network interfaceincludes, for illustrative purposes only, internal and externaltechnologies such as modems, including regular telephone-grade modems,cable modems, and DSL modems, ISDN adapters, and Ethernet cards.

FIG. 11 illustrates a functional block diagram of one aspect of a USBnetwork hub 300 device, according to one aspect of the presentdisclosure. In the illustrated aspect, the USB network hub device 300employs a TUSB2036 integrated circuit hub by Texas Instruments. The USBnetwork hub 300 is a CMOS device that provides an upstream USBtransceiver port 302 and up to three downstream USB transceiver ports304, 306, 308 in compliance with the USB 2.0 specification. The upstreamUSB transceiver port 302 is a differential root data port comprising adifferential data minus (DM0) input paired with a differential data plus(DP0) input. The three downstream USB transceiver ports 304, 306, 308are differential data ports where each port includes differential dataplus (DP1-DP3) outputs paired with differential data minus (DM1-DM3)outputs.

The USB network hub 300 device is implemented with a digital statemachine instead of a microcontroller, and no firmware programming isrequired. Fully compliant USB transceivers are integrated into thecircuit for the upstream USB transceiver port 302 and all downstream USBtransceiver ports 304, 306, 308. The downstream USB transceiver ports304, 306, 308 support both full-speed and low-speed devices byautomatically setting the slew rate according to the speed of the deviceattached to the ports. The USB network hub 300 device may be configuredeither in bus-powered or self-powered mode and includes a hub powerlogic 312 to manage power.

The USB network hub 300 device includes a serial interface engine 310(SIE). The SIE 310 is the front end of the USB network hub 300 hardwareand handles most of the protocol described in chapter 8 of the USBspecification. The SIE 310 typically comprehends signaling up to thetransaction level. The functions that it handles could include: packetrecognition, transaction sequencing, SOP, EOP, RESET, and RESUME signaldetection/generation, clock/data separation, non-return-to-zero invert(NRZI) data encoding/decoding and bit-stuffing, CRC generation andchecking (token and data), packet ID (PID) generation andchecking/decoding, and/or serial-parallel/parallel-serial conversion.The 310 receives a clock input 314 and is coupled to a suspend/resumelogic and frame timer 316 circuit and a hub repeater circuit 318 tocontrol communication between the upstream USB transceiver port 302 andthe downstream USB transceiver ports 304, 306, 308 through port logiccircuits 320, 322, 324. The SIE 310 is coupled to a command decoder 326via interface logic to control commands from a serial EEPROM via aserial EEPROM interface 330.

In various aspects, the USB network hub 300 can connect 127 functionsconfigured in up to six logical layers (tiers) to a single computer.Further, the USB network hub 300 can connect to all peripherals using astandardized four-wire cable that provides both communication and powerdistribution. The power configurations are bus-powered and self-poweredmodes. The USB network hub 300 may be configured to support four modesof power management: a bus-powered hub, with either individual-portpower management or ganged-port power management, and the self-poweredhub, with either individual-port power management or ganged-port powermanagement. In one aspect, using a USB cable, the USB network hub 300,the upstream USB transceiver port 302 is plugged into a USB hostcontroller, and the downstream USB transceiver ports 304, 306, 308 areexposed for connecting USB compatible devices, and so forth.

Surgical Instrument Hardware

FIG. 12 illustrates a logic diagram of a control system 470 of asurgical instrument or tool in accordance with one or more aspects ofthe present disclosure. The system 470 comprises a control circuit. Thecontrol circuit includes a microcontroller 461 comprising a processor462 and a memory 468. One or more of sensors 472, 474, 476, for example,provide real-time feedback to the processor 462. A motor 482, driven bya motor driver 492, operably couples a longitudinally movabledisplacement member to drive the I-beam knife element. A tracking system480 is configured to determine the position of the longitudinallymovable displacement member. The position information is provided to theprocessor 462, which can be programmed or configured to determine theposition of the longitudinally movable drive member as well as theposition of a firing member, firing bar, and I-beam knife element.Additional motors may be provided at the tool driver interface tocontrol I-beam firing, closure tube travel, shaft rotation, andarticulation. A display 473 displays a variety of operating conditionsof the instruments and may include touch screen functionality for datainput. Information displayed on the display 473 may be overlaid withimages acquired via endoscopic imaging modules.

In one aspect, the microcontroller 461 may be any single-core ormulticore processor such as those known under the trade name ARM Cortexby Texas Instruments. In one aspect, the main microcontroller 461 may bean LM4F230H5QR ARM Cortex-M4F Processor Core, available from TexasInstruments, for example, comprising an on-chip memory of 256 KBsingle-cycle flash memory, or other non-volatile memory, up to 40 MHz, aprefetch buffer to improve performance above 40 MHz, a 32 KBsingle-cycle SRAM, and internal ROM loaded with StellarisWare® software,a 2 KB EEPROM, one or more PWM modules, one or more QEI analogs, and/orone or more 12-bit ADCs with 12 analog input channels, details of whichare available for the product datasheet.

In one aspect, the microcontroller 461 may comprise a safety controllercomprising two controller-based families such as TMS570 and RM4x, knownunder the trade name Hercules ARM Cortex R4, also by Texas Instruments.The safety controller may be configured specifically for IEC 61508 andISO 26262 safety critical applications, among others, to provideadvanced integrated safety features while delivering scalableperformance, connectivity, and memory options.

The microcontroller 461 may be programmed to perform various functionssuch as precise control over the speed and position of the knife andarticulation systems. In one aspect, the microcontroller 461 includes aprocessor 462 and a memory 468. The electric motor 482 may be a brusheddirect current (DC) motor with a gearbox and mechanical links to anarticulation or knife system. In one aspect, a motor driver 492 may bean A3941 available from Allegro Microsystems, Inc. Other motor driversmay be readily substituted for use in the tracking system 480 comprisingan absolute positioning system. A detailed description of an absolutepositioning system is described in U.S. Patent Application PublicationNo. 2017/0296213, titled SYSTEMS AND METHODS FOR CONTROLLING A SURGICALSTAPLING AND CUTTING INSTRUMENT, which published on Oct. 19, 2017, whichis herein incorporated by reference in its entirety.

The microcontroller 461 may be programmed to provide precise controlover the speed and position of displacement members and articulationsystems. The microcontroller 461 may be configured to compute a responsein the software of the microcontroller 461. The computed response iscompared to a measured response of the actual system to obtain an“observed” response, which is used for actual feedback decisions. Theobserved response is a favorable, tuned value that balances the smooth,continuous nature of the simulated response with the measured response,which can detect outside influences on the system.

In one aspect, the motor 482 may be controlled by the motor driver 492and can be employed by the firing system of the surgical instrument ortool. In various forms, the motor 482 may be a brushed DC driving motorhaving a maximum rotational speed of approximately 25,000 RPM. In otherarrangements, the motor 482 may include a brushless motor, a cordlessmotor, a synchronous motor, a stepper motor, or any other suitableelectric motor. The motor driver 492 may comprise an H-bridge drivercomprising field-effect transistors (FETs), for example. The motor 482can be powered by a power assembly releasably mounted to the handleassembly or tool housing for supplying control power to the surgicalinstrument or tool. The power assembly may comprise a battery which mayinclude a number of battery cells connected in series that can be usedas the power source to power the surgical instrument or tool. In certaincircumstances, the battery cells of the power assembly may bereplaceable and/or rechargeable. In at least one example, the batterycells can be lithium-ion batteries which can be couplable to andseparable from the power assembly.

The motor driver 492 may be an A3941 available from AllegroMicrosystems, Inc. The A3941 492 is a full-bridge controller for usewith external N-channel power metal-oxide semiconductor field-effecttransistors (MOSFETs) specifically designed for inductive loads, such asbrush DC motors. The driver 492 comprises a unique charge pump regulatorthat provides full (>10 V) gate drive for battery voltages down to 7 Vand allows the A3941 to operate with a reduced gate drive, down to 5.5V. A bootstrap capacitor may be employed to provide the above batterysupply voltage required for N-channel MOSFETs. An internal charge pumpfor the high-side drive allows DC (100% duty cycle) operation. The fullbridge can be driven in fast or slow decay modes using diode orsynchronous rectification. In the slow decay mode, current recirculationcan be through the high-side or the lowside FETs. The power FETs areprotected from shoot-through by resistor-adjustable dead time.Integrated diagnostics provide indications of undervoltage,overtemperature, and power bridge faults and can be configured toprotect the power MOSFETs under most short circuit conditions. Othermotor drivers may be readily substituted for use in the tracking system480 comprising an absolute positioning system.

The tracking system 480 comprises a controlled motor drive circuitarrangement comprising a position sensor 472 according to one aspect ofthis disclosure. The position sensor 472 for an absolute positioningsystem provides a unique position signal corresponding to the locationof a displacement member. In one aspect, the displacement memberrepresents a longitudinally movable drive member comprising a rack ofdrive teeth for meshing engagement with a corresponding drive gear of agear reducer assembly. In other aspects, the displacement memberrepresents the firing member, which could be adapted and configured toinclude a rack of drive teeth. In yet another aspect, the displacementmember represents a firing bar or the I-beam, each of which can beadapted and configured to include a rack of drive teeth. Accordingly, asused herein, the term displacement member is used generically to referto any movable member of the surgical instrument or tool such as thedrive member, the firing member, the firing bar, the I-beam, or anyelement that can be displaced. In one aspect, the longitudinally movabledrive member is coupled to the firing member, the firing bar, and theI-beam. Accordingly, the absolute positioning system can, in effect,track the linear displacement of the I-beam by tracking the lineardisplacement of the longitudinally movable drive member. In variousother aspects, the displacement member may be coupled to any positionsensor 472 suitable for measuring linear displacement. Thus, thelongitudinally movable drive member, the firing member, the firing bar,or the I-beam, or combinations thereof, may be coupled to any suitablelinear displacement sensor. Linear displacement sensors may includecontact or non-contact displacement sensors. Linear displacement sensorsmay comprise linear variable differential transformers (LVDT),differential variable reluctance transducers (DVRT), a slidepotentiometer, a magnetic sensing system comprising a movable magnet anda series of linearly arranged Hall effect sensors, a magnetic sensingsystem comprising a fixed magnet and a series of movable, linearlyarranged Hall effect sensors, an optical sensing system comprising amovable light source and a series of linearly arranged photo diodes orphoto detectors, an optical sensing system comprising a fixed lightsource and a series of movable linearly, arranged photo diodes or photodetectors, or any combination thereof.

The electric motor 482 can include a rotatable shaft that operablyinterfaces with a gear assembly that is mounted in meshing engagementwith a set, or rack, of drive teeth on the displacement member. A sensorelement may be operably coupled to a gear assembly such that a singlerevolution of the position sensor 472 element corresponds to some linearlongitudinal translation of the displacement member. An arrangement ofgearing and sensors can be connected to the linear actuator, via a rackand pinion arrangement, or a rotary actuator, via a spur gear or otherconnection. A power source supplies power to the absolute positioningsystem and an output indicator may display the output of the absolutepositioning system. The displacement member represents thelongitudinally movable drive member comprising a rack of drive teethformed thereon for meshing engagement with a corresponding drive gear ofthe gear reducer assembly. The displacement member represents thelongitudinally movable firing member, firing bar, I-beam, orcombinations thereof.

A single revolution of the sensor element associated with the positionsensor 472 is equivalent to a longitudinal linear displacement d1 of theof the displacement member, where d1 is the longitudinal linear distancethat the displacement member moves from point “a” to point “b” after asingle revolution of the sensor element coupled to the displacementmember. The sensor arrangement may be connected via a gear reductionthat results in the position sensor 472 completing one or morerevolutions for the full stroke of the displacement member. The positionsensor 472 may complete multiple revolutions for the full stroke of thedisplacement member.

A series of switches, where n is an integer greater than one, may beemployed alone or in combination with a gear reduction to provide aunique position signal for more than one revolution of the positionsensor 472. The state of the switches are fed back to themicrocontroller 461 that applies logic to determine a unique positionsignal corresponding to the longitudinal linear displacement d1+d2+ . .. dn of the displacement member. The output of the position sensor 472is provided to the microcontroller 461. The position sensor 472 of thesensor arrangement may comprise a magnetic sensor, an analog rotarysensor like a potentiometer, or an array of analog Hall-effect elements,which output a unique combination of position signals or values.

The position sensor 472 may comprise any number of magnetic sensingelements, such as, for example, magnetic sensors classified according towhether they measure the total magnetic field or the vector componentsof the magnetic field. The techniques used to produce both types ofmagnetic sensors encompass many aspects of physics and electronics. Thetechnologies used for magnetic field sensing include search coil,fluxgate, optically pumped, nuclear precession, SQUID, Hall-effect,anisotropic magnetoresistance, giant magnetoresistance, magnetic tunneljunctions, giant magnetoimpedance, magnetostrictive/piezoelectriccomposites, magnetodiode, magnetotransistor, fiber-optic, magneto-optic,and microelectromechanical systems-based magnetic sensors, among others.

In one aspect, the position sensor 472 for the tracking system 480comprising an absolute positioning system comprises a magnetic rotaryabsolute positioning system. The position sensor 472 may be implementedas an AS5055EQFT single-chip magnetic rotary position sensor availablefrom Austria Microsystems, AG. The position sensor 472 is interfacedwith the microcontroller 461 to provide an absolute positioning system.The position sensor 472 is a low-voltage and low-power component andincludes four Hall-effect elements in an area of the position sensor 472that is located above a magnet. A high-resolution ADC and a smart powermanagement controller are also provided on the chip. A coordinaterotation digital computer (CORDIC) processor, also known as thedigit-by-digit method and Volder's algorithm, is provided to implement asimple and efficient algorithm to calculate hyperbolic and trigonometricfunctions that require only addition, subtraction, bitshift, and tablelookup operations. The angle position, alarm bits, and magnetic fieldinformation are transmitted over a standard serial communicationinterface, such as a serial peripheral interface (SPI) interface, to themicrocontroller 461. The position sensor 472 provides 12 or 14 bits ofresolution. The position sensor 472 may be an AS5055 chip provided in asmall QFN 16-pin 4×4×0.85 mm package.

The tracking system 480 comprising an absolute positioning system maycomprise and/or be programmed to implement a feedback controller, suchas a PID, state feedback, and adaptive controller. A power sourceconverts the signal from the feedback controller into a physical inputto the system: in this case the voltage. Other examples include a PWM ofthe voltage, current, and force. Other sensor(s) may be provided tomeasure physical parameters of the physical system in addition to theposition measured by the position sensor 472. In some aspects, the othersensor(s) can include sensor arrangements such as those described inU.S. Pat. No. 9,345,481, titled STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM, which issued on May 24, 2016, which is herein incorporated byreference in its entirety; U.S. Patent Application Publication No.2014/0263552, titled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM,which published on Sep. 18, 2014, which is herein incorporated byreference in its entirety; and U.S. patent application Ser. No.15/628,175, titled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OFA SURGICAL STAPLING AND CUTTING INSTRUMENT, filed Jun. 20, 2017, whichis herein incorporated by reference in its entirety. In a digital signalprocessing system, an absolute positioning system is coupled to adigital data acquisition system where the output of the absolutepositioning system will have a finite resolution and sampling frequency.The absolute positioning system may comprise a compare-and-combinecircuit to combine a computed response with a measured response usingalgorithms, such as a weighted average and a theoretical control loop,that drive the computed response towards the measured response. Thecomputed response of the physical system takes into account propertieslike mass, inertial, viscous friction, inductance resistance, etc., topredict what the states and outputs of the physical system will be byknowing the input.

The absolute positioning system provides an absolute position of thedisplacement member upon power-up of the instrument, without retractingor advancing the displacement member to a reset (zero or home) positionas may be required with conventional rotary encoders that merely countthe number of steps forwards or backwards that the motor 482 has takento infer the position of a device actuator, drive bar, knife, or thelike.

A sensor 474, such as, for example, a strain gauge or a micro-straingauge, is configured to measure one or more parameters of the endeffector, such as, for example, the amplitude of the strain exerted onthe anvil during a clamping operation, which can be indicative of theclosure forces applied to the anvil. The measured strain is converted toa digital signal and provided to the processor 462. Alternatively, or inaddition to the sensor 474, a sensor 476, such as, for example, a loadsensor, can measure the closure force applied by the closure drivesystem to the anvil. The sensor 476, such as, for example, a loadsensor, can measure the firing force applied to an !-beam in a firingstroke of the surgical instrument or tool. The I-beam is configured toengage a wedge sled, which is configured to upwardly cam staple driversto force out staples into deforming contact with an anvil. The I-beamalso includes a sharpened cutting edge that can be used to sever tissueas the I-beam is advanced distally by the firing bar. Alternatively, acurrent sensor 478 can be employed to measure the current drawn by themotor 482. The force required to advance the firing member cancorrespond to the current drawn by the motor 482, for example. Themeasured force is converted to a digital signal and provided to theprocessor 462.

In one form, the strain gauge sensor 474 can be used to measure theforce applied to the tissue by the end effector. A strain gauge can becoupled to the end effector to measure the force on the tissue beingtreated by the end effector. A system for measuring forces applied tothe tissue grasped by the end effector comprises a strain gauge sensor474, such as, for example, a micro-strain gauge, that is configured tomeasure one or more parameters of the end effector, for example. In oneaspect, the strain gauge sensor 474 can measure the amplitude ormagnitude of the strain exerted on a jaw member of an end effectorduring a clamping operation, which can be indicative of the tissuecompression. The measured strain is converted to a digital signal andprovided to a processor 462 of the microcontroller 461. A load sensor476 can measure the force used to operate the knife element, forexample, to cut the tissue captured between the anvil and the staplecartridge. A magnetic field sensor can be employed to measure thethickness of the captured tissue. The measurement of the magnetic fieldsensor also may be converted to a digital signal and provided to theprocessor 462.

The measurements of the tissue compression, the tissue thickness, and/orthe force required to close the end effector on the tissue, asrespectively measured by the sensors 474, 476, can be used by themicrocontroller 461 to characterize the selected position of the firingmember and/or the corresponding value of the speed of the firing member.In one instance, a memory 468 may store a technique, an equation, and/ora lookup table which can be employed by the microcontroller 461 in theassessment.

The control system 470 of the surgical instrument or tool also maycomprise wired or wireless communication circuits to communicate withthe modular communication hub as shown in FIGS. 8-11.

FIG. 13 illustrates a control circuit 500 configured to control aspectsof the surgical instrument or tool according to one aspect of thisdisclosure. The control circuit 500 can be configured to implementvarious processes described herein. The control circuit 500 may comprisea microcontroller comprising one or more processors 502 (e.g.,microprocessor, microcontroller) coupled to at least one memory circuit504. The memory circuit 504 stores machine-executable instructions that,when executed by the processor 502, cause the processor 502 to executemachine instructions to implement various processes described herein.The processor 502 may be any one of a number of single-core or multicoreprocessors known in the art. The memory circuit 504 may comprisevolatile and non-volatile storage media. The processor 502 may includean instruction processing unit 506 and an arithmetic unit 508. Theinstruction processing unit may be configured to receive instructionsfrom the memory circuit 504 of this disclosure.

FIG. 14 illustrates a combinational logic circuit 510 configured tocontrol aspects of the surgical instrument or tool according to oneaspect of this disclosure. The combinational logic circuit 510 can beconfigured to implement various processes described herein. Thecombinational logic circuit 510 may comprise a finite state machinecomprising a combinational logic 512 configured to receive dataassociated with the surgical instrument or tool at an input 514, processthe data by the combinational logic 512, and provide an output 516.

FIG. 15 illustrates a sequential logic circuit 520 configured to controlaspects of the surgical instrument or tool according to one aspect ofthis disclosure. The sequential logic circuit 520 or the combinationallogic 522 can be configured to implement various processes describedherein. The sequential logic circuit 520 may comprise a finite statemachine. The sequential logic circuit 520 may comprise a combinationallogic 522, at least one memory circuit 524, and a clock 529, forexample. The at least one memory circuit 524 can store a current stateof the finite state machine. In certain instances, the sequential logiccircuit 520 may be synchronous or asynchronous. The combinational logic522 is configured to receive data associated with the surgicalinstrument or tool from an input 526, process the data by thecombinational logic 522, and provide an output 528. In other aspects,the circuit may comprise a combination of a processor (e.g., processor502, FIG. 13) and a finite state machine to implement various processesherein. In other aspects, the finite state machine may comprise acombination of a combinational logic circuit (e.g., combinational logiccircuit 510, FIG. 14) and the sequential logic circuit 520.

FIG. 16 illustrates a surgical instrument or tool comprising a pluralityof motors which can be activated to perform various functions. Incertain instances, a first motor can be activated to perform a firstfunction, a second motor can be activated to perform a second function,a third motor can be activated to perform a third function, a fourthmotor can be activated to perform a fourth function, and so on. Incertain instances, the plurality of motors of robotic surgicalinstrument 600 can be individually activated to cause firing, closure,and/or articulation motions in the end effector. The firing, closure,and/or articulation motions can be transmitted to the end effectorthrough a shaft assembly, for example.

In certain instances, the surgical instrument system or tool may includea firing motor 602. The firing motor 602 may be operably coupled to afiring motor drive assembly 604 which can be configured to transmitfiring motions, generated by the motor 602 to the end effector, inparticular to displace the I-beam element. In certain instances, thefiring motions generated by the motor 602 may cause the staples to bedeployed from the staple cartridge into tissue captured by the endeffector and/or the cutting edge of the I-beam element to be advanced tocut the captured tissue, for example. The I-beam element may beretracted by reversing the direction of the motor 602.

In certain instances, the surgical instrument or tool may include aclosure motor 603. The closure motor 603 may be operably coupled to aclosure motor drive assembly 605 which can be configured to transmitclosure motions, generated by the motor 603 to the end effector, inparticular to displace a closure tube to close the anvil and compresstissue between the anvil and the staple cartridge. The closure motionsmay cause the end effector to transition from an open configuration toan approximated configuration to capture tissue, for example. The endeffector may be transitioned to an open position by reversing thedirection of the motor 603.

In certain instances, the surgical instrument or tool may include one ormore articulation motors 606 a, 606 b, for example. The motors 606 a,606 b may be operably coupled to respective articulation motor driveassemblies 608 a, 608 b, which can be configured to transmitarticulation motions generated by the motors 606 a, 606 b to the endeffector. In certain instances, the articulation motions may cause theend effector to articulate relative to the shaft, for example.

As described above, the surgical instrument or tool may include aplurality of motors which may be configured to perform variousindependent functions. In certain instances, the plurality of motors ofthe surgical instrument or tool can be individually or separatelyactivated to perform one or more functions while the other motors remaininactive. For example, the articulation motors 606 a, 606 b can beactivated to cause the end effector to be articulated while the firingmotor 602 remains inactive. Alternatively, the firing motor 602 can beactivated to fire the plurality of staples, and/or to advance thecutting edge, while the articulation motor 606 remains inactive.Furthermore the closure motor 603 may be activated simultaneously withthe firing motor 602 to cause the closure tube and the I-beam element toadvance distally as described in more detail hereinbelow.

In certain instances, the surgical instrument or tool may include acommon control module 610 which can be employed with a plurality ofmotors of the surgical instrument or tool. In certain instances, thecommon control module 610 may accommodate one of the plurality of motorsat a time. For example, the common control module 610 can be couplableto and separable from the plurality of motors of the robotic surgicalinstrument individually. In certain instances, a plurality of the motorsof the surgical instrument or tool may share one or more common controlmodules such as the common control module 610. In certain instances, aplurality of motors of the surgical instrument or tool can beindividually and selectively engaged with the common control module 610.In certain instances, the common control module 610 can be selectivelyswitched from interfacing with one of a plurality of motors of thesurgical instrument or tool to interfacing with another one of theplurality of motors of the surgical instrument or tool.

In at least one example, the common control module 610 can beselectively switched between operable engagement with the articulationmotors 606 a, 606 b and operable engagement with either the firing motor602 or the closure motor 603. In at least one example, as illustrated inFIG. 16, a switch 614 can be moved or transitioned between a pluralityof positions and/or states. In a first position 616, the switch 614 mayelectrically couple the common control module 610 to the firing motor602; in a second position 617, the switch 614 may electrically couplethe common control module 610 to the closure motor 603; in a thirdposition 618 a, the switch 614 may electrically couple the commoncontrol module 610 to the first articulation motor 606 a; and in afourth position 618 b, the switch 614 may electrically couple the commoncontrol module 610 to the second articulation motor 606 b, for example.In certain instances, separate common control modules 610 can beelectrically coupled to the firing motor 602, the closure motor 603, andthe articulations motor 606 a, 606 b at the same time. In certaininstances, the switch 614 may be a mechanical switch, anelectromechanical switch, a solid-state switch, or any suitableswitching mechanism.

Each of the motors 602, 603, 606 a, 606 b may comprise a torque sensorto measure the output torque on the shaft of the motor. The force on anend effector may be sensed in any conventional manner, such as by forcesensors on the outer sides of the jaws or by a torque sensor for themotor actuating the jaws.

In various instances, as illustrated in FIG. 16, the common controlmodule 610 may comprise a motor driver 626 which may comprise one ormore H-Bridge FETs. The motor driver 626 may modulate the powertransmitted from a power source 628 to a motor coupled to the commoncontrol module 610 based on input from a microcontroller 620 (the“controller”), for example. In certain instances, the microcontroller620 can be employed to determine the current drawn by the motor, forexample, while the motor is coupled to the common control module 610, asdescribed above.

In certain instances, the microcontroller 620 may include amicroprocessor 622 (the “processor”) and one or more non-transitorycomputer-readable mediums or memory units 624 (the “memory”). In certaininstances, the memory 624 may store various program instructions, whichwhen executed may cause the processor 622 to perform a plurality offunctions and/or calculations described herein. In certain instances,one or more of the memory units 624 may be coupled to the processor 622,for example.

In certain instances, the power source 628 can be employed to supplypower to the microcontroller 620, for example. In certain instances, thepower source 628 may comprise a battery (or “battery pack” or “powerpack”), such as a lithium-ion battery, for example. In certaininstances, the battery pack may be configured to be releasably mountedto a handle for supplying power to the surgical instrument 600. A numberof battery cells connected in series may be used as the power source628. In certain instances, the power source 628 may be replaceableand/or rechargeable, for example.

In various instances, the processor 622 may control the motor driver 626to control the position, direction of rotation, and/or velocity of amotor that is coupled to the common control module 610. In certaininstances, the processor 622 can signal the motor driver 626 to stopand/or disable a motor that is coupled to the common control module 610.It should be understood that the term “processor” as used hereinincludes any suitable microprocessor, microcontroller, or other basiccomputing device that incorporates the functions of a computer's centralprocessing unit (CPU) on an integrated circuit or, at most, a fewintegrated circuits. The processor is a multipurpose, programmabledevice that accepts digital data as input, processes it according toinstructions stored in its memory, and provides results as output. It isan example of sequential digital logic, as it has internal memory.Processors operate on numbers and symbols represented in the binarynumeral system.

In one instance, the processor 622 may be any single-core or multicoreprocessor such as those known under the trade name ARM Cortex by TexasInstruments. In certain instances, the microcontroller 620 may be an LM4F230H5QR, available from Texas Instruments, for example. In at leastone example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4FProcessor Core comprising an on-chip memory of 256 KB single-cycle flashmemory, or other non-volatile memory, up to 40 MHz, a prefetch buffer toimprove performance above 40 MHz, a 32 KB single-cycle SRAM, an internalROM loaded with StellarisWare® software, a 2 KB EEPROM, one or more PWMmodules, one or more QEI analogs, one or more 12-bit ADCs with 12 analoginput channels, among other features that are readily available for theproduct datasheet. Other microcontrollers may be readily substituted foruse with the module 4410. Accordingly, the present disclosure should notbe limited in this context.

In certain instances, the memory 624 may include program instructionsfor controlling each of the motors of the surgical instrument 600 thatare couplable to the common control module 610. For example, the memory624 may include program instructions for controlling the firing motor602, the closure motor 603, and the articulation motors 606 a, 606 b.Such program instructions may cause the processor 622 to control thefiring, closure, and articulation functions in accordance with inputsfrom algorithms or control programs of the surgical instrument or tool.

In certain instances, one or more mechanisms and/or sensors such as, forexample, sensors 630 can be employed to alert the processor 622 to theprogram instructions that should be used in a particular setting. Forexample, the sensors 630 may alert the processor 622 to use the programinstructions associated with firing, closing, and articulating the endeffector. In certain instances, the sensors 630 may comprise positionsensors which can be employed to sense the position of the switch 614,for example. Accordingly, the processor 622 may use the programinstructions associated with firing the I-beam of the end effector upondetecting, through the sensors 630 for example, that the switch 614 isin the first position 616; the processor 622 may use the programinstructions associated with closing the anvil upon detecting, throughthe sensors 630 for example, that the switch 614 is in the secondposition 617; and the processor 622 may use the program instructionsassociated with articulating the end effector upon detecting, throughthe sensors 630 for example, that the switch 614 is in the third orfourth position 618 a, 618 b.

FIG. 17 is a schematic diagram of a robotic surgical instrument 700configured to operate a surgical tool described herein according to oneaspect of this disclosure. The robotic surgical instrument 700 may beprogrammed or configured to control distal/proximal translation of adisplacement member, distal/proximal displacement of a closure tube,shaft rotation, and articulation, either with single or multiplearticulation drive links. In one aspect, the surgical instrument 700 maybe programmed or configured to individually control a firing member, aclosure member, a shaft member, and/or one or more articulation members.The surgical instrument 700 comprises a control circuit 710 configuredto control motor-driven firing members, closure members, shaft members,and/or one or more articulation members.

In one aspect, the robotic surgical instrument 700 comprises a controlcircuit 710 configured to control an anvil 716 and an I-beam 714(including a sharp cutting edge) portion of an end effector 702, aremovable staple cartridge 718, a shaft 740, and one or morearticulation members 742 a, 742 b via a plurality of motors 704 a-704 e.A position sensor 734 may be configured to provide position feedback ofthe I-beam 714 to the control circuit 710. Other sensors 738 may beconfigured to provide feedback to the control circuit 710. Atimer/counter 731 provides timing and counting information to thecontrol circuit 710. An energy source 712 may be provided to operate themotors 704 a-704 e, and a current sensor 736 provides motor currentfeedback to the control circuit 710. The motors 704 a-704 e can beoperated individually by the control circuit 710 in an open-loop orclosed-loop feedback control.

In one aspect, the control circuit 710 may comprise one or moremicrocontrollers, microprocessors, or other suitable processors forexecuting instructions that cause the processor or processors to performone or more tasks. In one aspect, a timer/counter 731 provides an outputsignal, such as the elapsed time or a digital count, to the controlcircuit 710 to correlate the position of the I-beam 714 as determined bythe position sensor 734 with the output of the timer/counter 731 suchthat the control circuit 710 can determine the position of the I-beam714 at a specific time (t) relative to a starting position or the time(t) when the I-beam 714 is at a specific position relative to a startingposition. The timer/counter 731 may be configured to measure elapsedtime, count external events, or time external events.

In one aspect, the control circuit 710 may be programmed to controlfunctions of the end effector 702 based on one or more tissueconditions. The control circuit 710 may be programmed to sense tissueconditions, such as thickness, either directly or indirectly, asdescribed herein. The control circuit 710 may be programmed to select afiring control program or closure control program based on tissueconditions. A firing control program may describe the distal motion ofthe displacement member. Different firing control programs may beselected to better treat different tissue conditions. For example, whenthicker tissue is present, the control circuit 710 may be programmed totranslate the displacement member at a lower velocity and/or with lowerpower. When thinner tissue is present, the control circuit 710 may beprogrammed to translate the displacement member at a higher velocityand/or with higher power. A closure control program may control theclosure force applied to the tissue by the anvil 716. Other controlprograms control the rotation of the shaft 740 and the articulationmembers 742 a, 742 b.

In one aspect, the control circuit 710 may generate motor set pointsignals. The motor set point signals may be provided to various motorcontrollers 708 a-708 e. The motor controllers 708 a-708 e may compriseone or more circuits configured to provide motor drive signals to themotors 704 a-704 e to drive the motors 704 a-704 e as described herein.In some examples, the motors 704 a-704 e may be brushed DC electricmotors. For example, the velocity of the motors 704 a-704 e may beproportional to the respective motor drive signals. In some examples,the motors 704 a-704 e may be brushless DC electric motors, and therespective motor drive signals may comprise a PWM signal provided to oneor more stator windings of the motors 704 a-704 e. Also, in someexamples, the motor controllers 708 a-708 e may be omitted and thecontrol circuit 710 may generate the motor drive signals directly.

In one aspect, the control circuit 710 may initially operate each of themotors 704 a-704 e in an open-loop configuration for a first open-loopportion of a stroke of the displacement member. Based on the response ofthe robotic surgical instrument 700 during the open-loop portion of thestroke, the control circuit 710 may select a firing control program in aclosed-loop configuration. The response of the instrument may include atranslation distance of the displacement member during the open-loopportion, a time elapsed during the open-loop portion, the energyprovided to one of the motors 704 a-704 e during the open-loop portion,a sum of pulse widths of a motor drive signal, etc. After the open-loopportion, the control circuit 710 may implement the selected firingcontrol program for a second portion of the displacement member stroke.For example, during a closed-loop portion of the stroke, the controlcircuit 710 may modulate one of the motors 704 a-704 e based ontranslation data describing a position of the displacement member in aclosed-loop manner to translate the displacement member at a constantvelocity.

In one aspect, the motors 704 a-704 e may receive power from an energysource 712. The energy source 712 may be a DC power supply driven by amain alternating current power source, a battery, a super capacitor, orany other suitable energy source. The motors 704 a-704 e may bemechanically coupled to individual movable mechanical elements such asthe I-beam 714, anvil 716, shaft 740, articulation 742 a, andarticulation 742 b via respective transmissions 706 a-706 e. Thetransmissions 706 a-706 e may include one or more gears or other linkagecomponents to couple the motors 704 a-704 e to movable mechanicalelements. A position sensor 734 may sense a position of the I-beam 714.The position sensor 734 may be or include any type of sensor that iscapable of generating position data that indicate a position of theI-beam 714. In some examples, the position sensor 734 may include anencoder configured to provide a series of pulses to the control circuit710 as the I-beam 714 translates distally and proximally. The controlcircuit 710 may track the pulses to determine the position of the I-beam714. Other suitable position sensors may be used, including, forexample, a proximity sensor. Other types of position sensors may provideother signals indicating motion of the I-beam 714. Also, in someexamples, the position sensor 734 may be omitted. Where any of themotors 704 a-704 e is a stepper motor, the control circuit 710 may trackthe position of the I-beam 714 by aggregating the number and directionof steps that the motor 704 has been instructed to execute. The positionsensor 734 may be located in the end effector 702 or at any otherportion of the instrument. The outputs of each of the motors 704 a-704 einclude a torque sensor 744 a-744 e to sense force and have an encoderto sense rotation of the drive shaft.

In one aspect, the control circuit 710 is configured to drive a firingmember such as the I-beam 714 portion of the end effector 702. Thecontrol circuit 710 provides a motor set point to a motor control 708 a,which provides a drive signal to the motor 704 a. The output shaft ofthe motor 704 a is coupled to a torque sensor 744 a. The torque sensor744 a is coupled to a transmission 706 a which is coupled to the I-beam714. The transmission 706 a comprises movable mechanical elements suchas rotating elements and a firing member to control the movement of theI-beam 714 distally and proximally along a longitudinal axis of the endeffector 702. In one aspect, the motor 704 a may be coupled to the knifegear assembly, which includes a knife gear reduction set that includes afirst knife drive gear and a second knife drive gear. A torque sensor744 a provides a firing force feedback signal to the control circuit710. The firing force signal represents the force required to fire ordisplace the I-beam 714. A position sensor 734 may be configured toprovide the position of the I-beam 714 along the firing stroke or theposition of the firing member as a feedback signal to the controlcircuit 710. The end effector 702 may include additional sensors 738configured to provide feedback signals to the control circuit 710. Whenready to use, the control circuit 710 may provide a firing signal to themotor control 708 a. In response to the firing signal, the motor 704 amay drive the firing member distally along the longitudinal axis of theend effector 702 from a proximal stroke start position to a stroke endposition distal to the stroke start position. As the firing membertranslates distally, an I-beam 714, with a cutting element positioned ata distal end, advances distally to cut tissue located between the staplecartridge 718 and the anvil 716.

In one aspect, the control circuit 710 is configured to drive a closuremember such as the anvil 716 portion of the end effector 702. Thecontrol circuit 710 provides a motor set point to a motor control 708 b,which provides a drive signal to the motor 704 b. The output shaft ofthe motor 704 b is coupled to a torque sensor 744 b. The torque sensor744 b is coupled to a transmission 706 b which is coupled to the anvil716. The transmission 706 b comprises movable mechanical elements suchas rotating elements and a closure member to control the movement of theanvil 716 from the open and closed positions. In one aspect, the motor704 b is coupled to a closure gear assembly, which includes a closurereduction gear set that is supported in meshing engagement with theclosure spur gear. The torque sensor 744 b provides a closure forcefeedback signal to the control circuit 710. The closure force feedbacksignal represents the closure force applied to the anvil 716. Theposition sensor 734 may be configured to provide the position of theclosure member as a feedback signal to the control circuit 710.Additional sensors 738 in the end effector 702 may provide the closureforce feedback signal to the control circuit 710. The pivotable anvil716 is positioned opposite the staple cartridge 718. When ready to use,the control circuit 710 may provide a closure signal to the motorcontrol 708 b. In response to the closure signal, the motor 704 badvances a closure member to grasp tissue between the anvil 716 and thestaple cartridge 718.

In one aspect, the control circuit 710 is configured to rotate a shaftmember such as the shaft 740 to rotate the end effector 702. The controlcircuit 710 provides a motor set point to a motor control 708 c, whichprovides a drive signal to the motor 704 c. The output shaft of themotor 704 c is coupled to a torque sensor 744 c. The torque sensor 744 cis coupled to a transmission 706 c which is coupled to the shaft 740.The transmission 706 c comprises movable mechanical elements such asrotating elements to control the rotation of the shaft 740 clockwise orcounterclockwise up to and over 360°. In one aspect, the motor 704 c iscoupled to the rotational transmission assembly, which includes a tubegear segment that is formed on (or attached to) the proximal end of theproximal closure tube for operable engagement by a rotational gearassembly that is operably supported on the tool mounting plate. Thetorque sensor 744 c provides a rotation force feedback signal to thecontrol circuit 710. The rotation force feedback signal represents therotation force applied to the shaft 740. The position sensor 734 may beconfigured to provide the position of the closure member as a feedbacksignal to the control circuit 710. Additional sensors 738 such as ashaft encoder may provide the rotational position of the shaft 740 tothe control circuit 710.

In one aspect, the control circuit 710 is configured to articulate theend effector 702. The control circuit 710 provides a motor set point toa motor control 708 d, which provides a drive signal to the motor 704 d.The output shaft of the motor 704 d is coupled to a torque sensor 744 d.The torque sensor 744 d is coupled to a transmission 706 d which iscoupled to an articulation member 742 a. The transmission 706 dcomprises movable mechanical elements such as articulation elements tocontrol the articulation of the end effector 702±65°. In one aspect, themotor 704 d is coupled to an articulation nut, which is rotatablyjournaled on the proximal end portion of the distal spine portion and isrotatably driven thereon by an articulation gear assembly. The torquesensor 744 d provides an articulation force feedback signal to thecontrol circuit 710. The articulation force feedback signal representsthe articulation force applied to the end effector 702. Sensors 738,such as an articulation encoder, may provide the articulation positionof the end effector 702 to the control circuit 710.

In another aspect, the articulation function of the robotic surgicalsystem 700 may comprise two articulation members, or links, 742 a, 742b. These articulation members 742 a, 742 b are driven by separate diskson the robot interface (the rack) which are driven by the two motors 708d, 708 e. When the separate firing motor 704 a is provided, each ofarticulation links 742 a, 742 b can be antagonistically driven withrespect to the other link in order to provide a resistive holding motionand a load to the head when it is not moving and to provide anarticulation motion as the head is articulated. The articulation members742 a, 742 b attach to the head at a fixed radius as the head isrotated. Accordingly, the mechanical advantage of the push-and-pull linkchanges as the head is rotated. This change in the mechanical advantagemay be more pronounced with other articulation link drive systems.

In one aspect, the one or more motors 704 a-704 e may comprise a brushedDC motor with a gearbox and mechanical links to a firing member, closuremember, or articulation member. Another example includes electric motors704 a-704 e that operate the movable mechanical elements such as thedisplacement member, articulation links, closure tube, and shaft. Anoutside influence is an unmeasured, unpredictable influence of thingslike tissue, surrounding bodies, and friction on the physical system.Such outside influence can be referred to as drag, which acts inopposition to one of electric motors 704 a-704 e. The outside influence,such as drag, may cause the operation of the physical system to deviatefrom a desired operation of the physical system.

In one aspect, the position sensor 734 may be implemented as an absolutepositioning system. In one aspect, the position sensor 734 may comprisea magnetic rotary absolute positioning system implemented as anAS5055EQFT single-chip magnetic rotary position sensor available fromAustria Microsystems, AG. The position sensor 734 may interface with thecontrol circuit 710 to provide an absolute positioning system. Theposition may include multiple Hall-effect elements located above amagnet and coupled to a CORDIC processor, also known as thedigit-by-digit method and Volder's algorithm, that is provided toimplement a simple and efficient algorithm to calculate hyperbolic andtrigonometric functions that require only addition, subtraction,bitshift, and table lookup operations.

In one aspect, the control circuit 710 may be in communication with oneor more sensors 738. The sensors 738 may be positioned on the endeffector 702 and adapted to operate with the robotic surgical instrument700 to measure the various derived parameters such as the gap distanceversus time, tissue compression versus time, and anvil strain versustime. The sensors 738 may comprise a magnetic sensor, a magnetic fieldsensor, a strain gauge, a load cell, a pressure sensor, a force sensor,a torque sensor, an inductive sensor such as an eddy current sensor, aresistive sensor, a capacitive sensor, an optical sensor, and/or anyother suitable sensor for measuring one or more parameters of the endeffector 702. The sensors 738 may include one or more sensors. Thesensors 738 may be located on the staple cartridge 718 deck to determinetissue location using segmented electrodes. The torque sensors 744 a-744e may be configured to sense force such as firing force, closure force,and/or articulation force, among others. Accordingly, the controlcircuit 710 can sense (1) the closure load experienced by the distalclosure tube and its position, (2) the firing member at the rack and itsposition, (3) what portion of the staple cartridge 718 has tissue on it,and (4) the load and position on both articulation rods.

In one aspect, the one or more sensors 738 may comprise a strain gauge,such as a micro-strain gauge, configured to measure the magnitude of thestrain in the anvil 716 during a clamped condition. The strain gaugeprovides an electrical signal whose amplitude varies with the magnitudeof the strain. The sensors 738 may comprise a pressure sensor configuredto detect a pressure generated by the presence of compressed tissuebetween the anvil 716 and the staple cartridge 718. The sensors 738 maybe configured to detect impedance of a tissue section located betweenthe anvil 716 and the staple cartridge 718 that is indicative of thethickness and/or fullness of tissue located therebetween.

In one aspect, the sensors 738 may be implemented as one or more limitswitches, electromechanical devices, solid-state switches, Hall-effectdevices, magneto-resistive (MR) devices, giant magneto-resistive (GMR)devices, magnetometers, among others. In other implementations, thesensors 738 may be implemented as solid-state switches that operateunder the influence of light, such as optical sensors, IR sensors,ultraviolet sensors, among others. Still, the switches may besolid-state devices such as transistors (e.g., FET, junction FET,MOSFET, bipolar, and the like). In other implementations, the sensors738 may include electrical conductorless switches, ultrasonic switches,accelerometers, and inertial sensors, among others.

In one aspect, the sensors 738 may be configured to measure forcesexerted on the anvil 716 by the closure drive system. For example, oneor more sensors 738 can be at an interaction point between the closuretube and the anvil 716 to detect the closure forces applied by theclosure tube to the anvil 716. The forces exerted on the anvil 716 canbe representative of the tissue compression experienced by the tissuesection captured between the anvil 716 and the staple cartridge 718. Theone or more sensors 738 can be positioned at various interaction pointsalong the closure drive system to detect the closure forces applied tothe anvil 716 by the closure drive system. The one or more sensors 738may be sampled in real time during a clamping operation by the processorof the control circuit 710. The control circuit 710 receives real-timesample measurements to provide and analyze time-based information andassess, in real time, closure forces applied to the anvil 716.

In one aspect, a current sensor 736 can be employed to measure thecurrent drawn by each of the motors 704 a-704 e. The force required toadvance any of the movable mechanical elements such as the I-beam 714corresponds to the current drawn by one of the motors 704 a-704 e. Theforce is converted to a digital signal and provided to the controlcircuit 710. The control circuit 710 can be configured to simulate theresponse of the actual system of the instrument in the software of thecontroller. A displacement member can be actuated to move an I-beam 714in the end effector 702 at or near a target velocity. The roboticsurgical instrument 700 can include a feedback controller, which can beone of any feedback controllers, including, but not limited to a PID, astate feedback, a linear-quadratic (LQR), and/or an adaptive controller,for example. The robotic surgical instrument 700 can include a powersource to convert the signal from the feedback controller into aphysical input such as case voltage, PWM voltage, frequency modulatedvoltage, current, torque, and/or force, for example. Additional detailsare disclosed in U.S. patent application Ser. No. 15/636,829, titledCLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT,filed Jun. 29, 2017, which is herein incorporated by reference in itsentirety.

FIG. 18 illustrates a block diagram of a surgical instrument 750programmed to control the distal translation of a displacement memberaccording to one aspect of this disclosure. In one aspect, the surgicalinstrument 750 is programmed to control the distal translation of adisplacement member such as the I-beam 764. The surgical instrument 750comprises an end effector 752 that may comprise an anvil 766, an !-beam764 (including a sharp cutting edge), and a removable staple cartridge768.

The position, movement, displacement, and/or translation of a lineardisplacement member, such as the I-beam 764, can be measured by anabsolute positioning system, sensor arrangement, and position sensor784. Because the I-beam 764 is coupled to a longitudinally movable drivemember, the position of the I-beam 764 can be determined by measuringthe position of the longitudinally movable drive member employing theposition sensor 784. Accordingly, in the following description, theposition, displacement, and/or translation of the I-beam 764 can beachieved by the position sensor 784 as described herein. A controlcircuit 760 may be programmed to control the translation of thedisplacement member, such as the I-beam 764. The control circuit 760, insome examples, may comprise one or more microcontrollers,microprocessors, or other suitable processors for executing instructionsthat cause the processor or processors to control the displacementmember, e.g., the I-beam 764, in the manner described. In one aspect, atimer/counter 781 provides an output signal, such as the elapsed time ora digital count, to the control circuit 760 to correlate the position ofthe I-beam 764 as determined by the position sensor 784 with the outputof the timer/counter 781 such that the control circuit 760 can determinethe position of the I-beam 764 at a specific time (t) relative to astarting position. The timer/counter 781 may be configured to measureelapsed time, count external events, or time external events.

The control circuit 760 may generate a motor set point signal 772. Themotor set point signal 772 may be provided to a motor controller 758.The motor controller 758 may comprise one or more circuits configured toprovide a motor drive signal 774 to the motor 754 to drive the motor 754as described herein. In some examples, the motor 754 may be a brushed DCelectric motor. For example, the velocity of the motor 754 may beproportional to the motor drive signal 774. In some examples, the motor754 may be a brushless DC electric motor and the motor drive signal 774may comprise a PWM signal provided to one or more stator windings of themotor 754. Also, in some examples, the motor controller 758 may beomitted, and the control circuit 760 may generate the motor drive signal774 directly.

The motor 754 may receive power from an energy source 762. The energysource 762 may be or include a battery, a super capacitor, or any othersuitable energy source. The motor 754 may be mechanically coupled to theI-beam 764 via a transmission 756. The transmission 756 may include oneor more gears or other linkage components to couple the motor 754 to theI-beam 764. A position sensor 784 may sense a position of the I-beam764. The position sensor 784 may be or include any type of sensor thatis capable of generating position data that indicate a position of the!-beam 764. In some examples, the position sensor 784 may include anencoder configured to provide a series of pulses to the control circuit760 as the I-beam 764 translates distally and proximally. The controlcircuit 760 may track the pulses to determine the position of the I-beam764. Other suitable position sensors may be used, including, forexample, a proximity sensor. Other types of position sensors may provideother signals indicating motion of the I-beam 764. Also, in someexamples, the position sensor 784 may be omitted. Where the motor 754 isa stepper motor, the control circuit 760 may track the position of theI-beam 764 by aggregating the number and direction of steps that themotor 754 has been instructed to execute. The position sensor 784 may belocated in the end effector 752 or at any other portion of theinstrument.

The control circuit 760 may be in communication with one or more sensors788. The sensors 788 may be positioned on the end effector 752 andadapted to operate with the surgical instrument 750 to measure thevarious derived parameters such as gap distance versus time, tissuecompression versus time, and anvil strain versus time. The sensors 788may comprise a magnetic sensor, a magnetic field sensor, a strain gauge,a pressure sensor, a force sensor, an inductive sensor such as an eddycurrent sensor, a resistive sensor, a capacitive sensor, an opticalsensor, and/or any other suitable sensor for measuring one or moreparameters of the end effector 752. The sensors 788 may include one ormore sensors.

The one or more sensors 788 may comprise a strain gauge, such as amicro-strain gauge, configured to measure the magnitude of the strain inthe anvil 766 during a clamped condition. The strain gauge provides anelectrical signal whose amplitude varies with the magnitude of thestrain. The sensors 788 may comprise a pressure sensor configured todetect a pressure generated by the presence of compressed tissue betweenthe anvil 766 and the staple cartridge 768. The sensors 788 may beconfigured to detect impedance of a tissue section located between theanvil 766 and the staple cartridge 768 that is indicative of thethickness and/or fullness of tissue located therebetween.

The sensors 788 may be is configured to measure forces exerted on theanvil 766 by a closure drive system. For example, one or more sensors788 can be at an interaction point between a closure tube and the anvil766 to detect the closure forces applied by a closure tube to the anvil766. The forces exerted on the anvil 766 can be representative of thetissue compression experienced by the tissue section captured betweenthe anvil 766 and the staple cartridge 768. The one or more sensors 788can be positioned at various interaction points along the closure drivesystem to detect the closure forces applied to the anvil 766 by theclosure drive system. The one or more sensors 788 may be sampled in realtime during a clamping operation by a processor of the control circuit760. The control circuit 760 receives real-time sample measurements toprovide and analyze time-based information and assess, in real time,closure forces applied to the anvil 766.

A current sensor 786 can be employed to measure the current drawn by themotor 754. The force required to advance the I-beam 764 corresponds tothe current drawn by the motor 754. The force is converted to a digitalsignal and provided to the control circuit 760.

The control circuit 760 can be configured to simulate the response ofthe actual system of the instrument in the software of the controller. Adisplacement member can be actuated to move an I-beam 764 in the endeffector 752 at or near a target velocity. The surgical instrument 750can include a feedback controller, which can be one of any feedbackcontrollers, including, but not limited to a PID, a state feedback, LQR,and/or an adaptive controller, for example. The surgical instrument 750can include a power source to convert the signal from the feedbackcontroller into a physical input such as case voltage, PWM voltage,frequency modulated voltage, current, torque, and/or force, for example.

The actual drive system of the surgical instrument 750 is configured todrive the displacement member, cutting member, or I-beam 764, by abrushed DC motor with gearbox and mechanical links to an articulationand/or knife system. Another example is the electric motor 754 thatoperates the displacement member and the articulation driver, forexample, of an interchangeable shaft assembly. An outside influence isan unmeasured, unpredictable influence of things like tissue,surrounding bodies and friction on the physical system. Such outsideinfluence can be referred to as drag which acts in opposition to theelectric motor 754. The outside influence, such as drag, may cause theoperation of the physical system to deviate from a desired operation ofthe physical system.

Various example aspects are directed to a surgical instrument 750comprising an end effector 752 with motor-driven surgical stapling andcutting implements. For example, a motor 754 may drive a displacementmember distally and proximally along a longitudinal axis of the endeffector 752. The end effector 752 may comprise a pivotable anvil 766and, when configured for use, a staple cartridge 768 positioned oppositethe anvil 766. A clinician may grasp tissue between the anvil 766 andthe staple cartridge 768, as described herein. When ready to use theinstrument 750, the clinician may provide a firing signal, for exampleby depressing a trigger of the instrument 750. In response to the firingsignal, the motor 754 may drive the displacement member distally alongthe longitudinal axis of the end effector 752 from a proximal strokebegin position to a stroke end position distal of the stroke beginposition. As the displacement member translates distally, an I-beam 764with a cutting element positioned at a distal end, may cut the tissuebetween the staple cartridge 768 and the anvil 766.

In various examples, the surgical instrument 750 may comprise a controlcircuit 760 programmed to control the distal translation of thedisplacement member, such as the I-beam 764, for example, based on oneor more tissue conditions. The control circuit 760 may be programmed tosense tissue conditions, such as thickness, either directly orindirectly, as described herein. The control circuit 760 may beprogrammed to select a firing control program based on tissueconditions. A firing control program may describe the distal motion ofthe displacement member. Different firing control programs may beselected to better treat different tissue conditions. For example, whenthicker tissue is present, the control circuit 760 may be programmed totranslate the displacement member at a lower velocity and/or with lowerpower. When thinner tissue is present, the control circuit 760 may beprogrammed to translate the displacement member at a higher velocityand/or with higher power.

In some examples, the control circuit 760 may initially operate themotor 754 in an open loop configuration for a first open loop portion ofa stroke of the displacement member. Based on a response of theinstrument 750 during the open loop portion of the stroke, the controlcircuit 760 may select a firing control program. The response of theinstrument may include, a translation distance of the displacementmember during the open loop portion, a time elapsed during the open loopportion, energy provided to the motor 754 during the open loop portion,a sum of pulse widths of a motor drive signal, etc. After the open loopportion, the control circuit 760 may implement the selected firingcontrol program for a second portion of the displacement member stroke.For example, during the closed loop portion of the stroke, the controlcircuit 760 may modulate the motor 754 based on translation datadescribing a position of the displacement member in a closed loop mannerto translate the displacement member at a constant velocity. Additionaldetails are disclosed in U.S. patent application Ser. No. 15/720,852,titled SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICALINSTRUMENT, filed Sep. 29, 2017, which is herein incorporated byreference in its entirety.

FIG. 19 is a schematic diagram of a surgical instrument 790 configuredto control various functions according to one aspect of this disclosure.In one aspect, the surgical instrument 790 is programmed to controldistal translation of a displacement member such as the I-beam 764. Thesurgical instrument 790 comprises an end effector 792 that may comprisean anvil 766, an I-beam 764, and a removable staple cartridge 768 whichmay be interchanged with an RF cartridge 796 (shown in dashed line).

In one aspect, sensors 788 may be implemented as a limit switch,electromechanical device, solid-state switches, Hall-effect devices, MRdevices, GMR devices, magnetometers, among others. In otherimplementations, the sensors 638 may be solid-state switches thatoperate under the influence of light, such as optical sensors, IRsensors, ultraviolet sensors, among others. Still, the switches may besolid-state devices such as transistors (e.g., FET, junction FET,MOSFET, bipolar, and the like). In other implementations, the sensors788 may include electrical conductorless switches, ultrasonic switches,accelerometers, and inertial sensors, among others.

In one aspect, the position sensor 784 may be implemented as an absolutepositioning system comprising a magnetic rotary absolute positioningsystem implemented as an AS5055EQFT single-chip magnetic rotary positionsensor available from Austria Microsystems, AG. The position sensor 784may interface with the control circuit 760 to provide an absolutepositioning system. The position may include multiple Hall-effectelements located above a magnet and coupled to a CORDIC processor, alsoknown as the digit-by-digit method and Volder's algorithm, that isprovided to implement a simple and efficient algorithm to calculatehyperbolic and trigonometric functions that require only addition,subtraction, bitshift, and table lookup operations.

In one aspect, the I-beam 764 may be implemented as a knife membercomprising a knife body that operably supports a tissue cutting bladethereon and may further include anvil engagement tabs or features andchannel engagement features or a foot. In one aspect, the staplecartridge 768 may be implemented as a standard (mechanical) surgicalfastener cartridge. In one aspect, the RF cartridge 796 may beimplemented as an RF cartridge. These and other sensors arrangements aredescribed in commonly owned U.S. patent application Ser. No. 15/628,175,titled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICALSTAPLING AND CUTTING INSTRUMENT, filed Jun. 20, 2017, which is hereinincorporated by reference in its entirety.

The position, movement, displacement, and/or translation of a lineardisplacement member, such as the I-beam 764, can be measured by anabsolute positioning system, sensor arrangement, and position sensorrepresented as position sensor 784. Because the I-beam 764 is coupled tothe longitudinally movable drive member, the position of the I-beam 764can be determined by measuring the position of the longitudinallymovable drive member employing the position sensor 784. Accordingly, inthe following description, the position, displacement, and/ortranslation of the I-beam 764 can be achieved by the position sensor 784as described herein. A control circuit 760 may be programmed to controlthe translation of the displacement member, such as the I-beam 764, asdescribed herein. The control circuit 760, in some examples, maycomprise one or more microcontrollers, microprocessors, or othersuitable processors for executing instructions that cause the processoror processors to control the displacement member, e.g., the I-beam 764,in the manner described. In one aspect, a timer/counter 781 provides anoutput signal, such as the elapsed time or a digital count, to thecontrol circuit 760 to correlate the position of the I-beam 764 asdetermined by the position sensor 784 with the output of thetimer/counter 781 such that the control circuit 760 can determine theposition of the I-beam 764 at a specific time (t) relative to a startingposition. The timer/counter 781 may be configured to measure elapsedtime, count external events, or time external events.

The control circuit 760 may generate a motor set point signal 772. Themotor set point signal 772 may be provided to a motor controller 758.The motor controller 758 may comprise one or more circuits configured toprovide a motor drive signal 774 to the motor 754 to drive the motor 754as described herein. In some examples, the motor 754 may be a brushed DCelectric motor. For example, the velocity of the motor 754 may beproportional to the motor drive signal 774. In some examples, the motor754 may be a brushless DC electric motor and the motor drive signal 774may comprise a PWM signal provided to one or more stator windings of themotor 754. Also, in some examples, the motor controller 758 may beomitted, and the control circuit 760 may generate the motor drive signal774 directly.

The motor 754 may receive power from an energy source 762. The energysource 762 may be or include a battery, a super capacitor, or any othersuitable energy source. The motor 754 may be mechanically coupled to theI-beam 764 via a transmission 756. The transmission 756 may include oneor more gears or other linkage components to couple the motor 754 to theI-beam 764. A position sensor 784 may sense a position of the I-beam764. The position sensor 784 may be or include any type of sensor thatis capable of generating position data that indicate a position of the!-beam 764. In some examples, the position sensor 784 may include anencoder configured to provide a series of pulses to the control circuit760 as the I-beam 764 translates distally and proximally. The controlcircuit 760 may track the pulses to determine the position of the I-beam764. Other suitable position sensors may be used, including, forexample, a proximity sensor. Other types of position sensors may provideother signals indicating motion of the I-beam 764. Also, in someexamples, the position sensor 784 may be omitted. Where the motor 754 isa stepper motor, the control circuit 760 may track the position of theI-beam 764 by aggregating the number and direction of steps that themotor has been instructed to execute. The position sensor 784 may belocated in the end effector 792 or at any other portion of theinstrument.

The control circuit 760 may be in communication with one or more sensors788. The sensors 788 may be positioned on the end effector 792 andadapted to operate with the surgical instrument 790 to measure thevarious derived parameters such as gap distance versus time, tissuecompression versus time, and anvil strain versus time. The sensors 788may comprise a magnetic sensor, a magnetic field sensor, a strain gauge,a pressure sensor, a force sensor, an inductive sensor such as an eddycurrent sensor, a resistive sensor, a capacitive sensor, an opticalsensor, and/or any other suitable sensor for measuring one or moreparameters of the end effector 792. The sensors 788 may include one ormore sensors.

The one or more sensors 788 may comprise a strain gauge, such as amicro-strain gauge, configured to measure the magnitude of the strain inthe anvil 766 during a clamped condition. The strain gauge provides anelectrical signal whose amplitude varies with the magnitude of thestrain. The sensors 788 may comprise a pressure sensor configured todetect a pressure generated by the presence of compressed tissue betweenthe anvil 766 and the staple cartridge 768. The sensors 788 may beconfigured to detect impedance of a tissue section located between theanvil 766 and the staple cartridge 768 that is indicative of thethickness and/or fullness of tissue located therebetween.

The sensors 788 may be is configured to measure forces exerted on theanvil 766 by the closure drive system. For example, one or more sensors788 can be at an interaction point between a closure tube and the anvil766 to detect the closure forces applied by a closure tube to the anvil766. The forces exerted on the anvil 766 can be representative of thetissue compression experienced by the tissue section captured betweenthe anvil 766 and the staple cartridge 768. The one or more sensors 788can be positioned at various interaction points along the closure drivesystem to detect the closure forces applied to the anvil 766 by theclosure drive system. The one or more sensors 788 may be sampled in realtime during a clamping operation by a processor portion of the controlcircuit 760. The control circuit 760 receives real-time samplemeasurements to provide and analyze time-based information and assess,in real time, closure forces applied to the anvil 766.

A current sensor 786 can be employed to measure the current drawn by themotor 754. The force required to advance the I-beam 764 corresponds tothe current drawn by the motor 754. The force is converted to a digitalsignal and provided to the control circuit 760.

An RF energy source 794 is coupled to the end effector 792 and isapplied to the RF cartridge 796 when the RF cartridge 796 is loaded inthe end effector 792 in place of the staple cartridge 768. The controlcircuit 760 controls the delivery of the RF energy to the RF cartridge796.

Additional details are disclosed in U.S. patent application Ser. No.15/636,096, titled SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE ANDRADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, filed Jun. 28,2017, which is herein incorporated by reference in its entirety.

FIG. 20 is a simplified block diagram of a generator 800 configured toprovide inductorless tuning, among other benefits. Additional details ofthe generator 800 are described in U.S. Pat. No. 9,060,775, titledSURGICAL GENERATOR FOR ULTRASONIC AND ELECTROSURGICAL DEVICES, whichissued on Jun. 23, 2015, which is herein incorporated by reference inits entirety. The generator 800 may comprise a patient isolated stage802 in communication with a non-isolated stage 804 via a powertransformer 806. A secondary winding 808 of the power transformer 806 iscontained in the isolated stage 802 and may comprise a tappedconfiguration (e.g., a center-tapped or a non-center-tappedconfiguration) to define drive signal outputs 810 a, 810 b, 810 c fordelivering drive signals to different surgical instruments, such as, forexample, an ultrasonic surgical instrument, an RF electrosurgicalinstrument, and a multifunction surgical instrument which includesultrasonic and RF energy modes that can be delivered alone orsimultaneously. In particular, drive signal outputs 810 a, 810 c mayoutput an ultrasonic drive signal (e.g., a 420V root-mean-square (RMS)drive signal) to an ultrasonic surgical instrument, and drive signaloutputs 810 b, 810 c may output an RF electrosurgical drive signal(e.g., a 100V RMS drive signal) to an RF electrosurgical instrument,with the drive signal output 810 b corresponding to the center tap ofthe power transformer 806.

In certain forms, the ultrasonic and electrosurgical drive signals maybe provided simultaneously to distinct surgical instruments and/or to asingle surgical instrument, such as the multifunction surgicalinstrument, having the capability to deliver both ultrasonic andelectrosurgical energy to tissue. It will be appreciated that theelectrosurgical signal, provided either to a dedicated electrosurgicalinstrument and/or to a combined multifunction ultrasonic/electrosurgicalinstrument may be either a therapeutic or sub-therapeutic level signalwhere the sub-therapeutic signal can be used, for example, to monitortissue or instrument conditions and provide feedback to the generator.For example, the ultrasonic and RF signals can be delivered separatelyor simultaneously from a generator with a single output port in order toprovide the desired output signal to the surgical instrument, as will bediscussed in more detail below. Accordingly, the generator can combinethe ultrasonic and electrosurgical RF energies and deliver the combinedenergies to the multifunction ultrasonic/electrosurgical instrument.Bipolar electrodes can be placed on one or both jaws of the endeffector. One jaw may be driven by ultrasonic energy in addition toelectrosurgical RF energy, working simultaneously. The ultrasonic energymay be employed to dissect tissue, while the electrosurgical RF energymay be employed for vessel sealing.

The non-isolated stage 804 may comprise a power amplifier 812 having anoutput connected to a primary winding 814 of the power transformer 806.In certain forms, the power amplifier 812 may comprise a push-pullamplifier. For example, the non-isolated stage 804 may further comprisea logic device 816 for supplying a digital output to a digital-to-analogconverter (DAC) circuit 818, which in turn supplies a correspondinganalog signal to an input of the power amplifier 812. In certain forms,the logic device 816 may comprise a programmable gate array (PGA), aFPGA, programmable logic device (PLD), among other logic circuits, forexample. The logic device 816, by virtue of controlling the input of thepower amplifier 812 via the DAC circuit 818, may therefore control anyof a number of parameters (e.g., frequency, waveform shape, waveformamplitude) of drive signals appearing at the drive signal outputs 810 a,810 b, 810 c. In certain forms and as discussed below, the logic device816, in conjunction with a processor (e.g., a DSP discussed below), mayimplement a number of DSP-based and/or other control algorithms tocontrol parameters of the drive signals output by the generator 800.

Power may be supplied to a power rail of the power amplifier 812 by aswitch-mode regulator 820, e.g., a power converter. In certain forms,the switch-mode regulator 820 may comprise an adjustable buck regulator,for example. The non-isolated stage 804 may further comprise a firstprocessor 822, which in one form may comprise a DSP processor such as anAnalog Devices ADSP-21469 SHARC DSP, available from Analog Devices,Norwood, Mass., for example, although in various forms any suitableprocessor may be employed. In certain forms the DSP processor 822 maycontrol the operation of the switch-mode regulator 820 responsive tovoltage feedback data received from the power amplifier 812 by the DSPprocessor 822 via an ADC circuit 824. In one form, for example, the DSPprocessor 822 may receive as input, via the ADC circuit 824, thewaveform envelope of a signal (e.g., an RF signal) being amplified bythe power amplifier 812. The DSP processor 822 may then control theswitch-mode regulator 820 (e.g., via a PWM output) such that the railvoltage supplied to the power amplifier 812 tracks the waveform envelopeof the amplified signal. By dynamically modulating the rail voltage ofthe power amplifier 812 based on the waveform envelope, the efficiencyof the power amplifier 812 may be significantly improved relative to afixed rail voltage amplifier schemes.

In certain forms, the logic device 816, in conjunction with the DSPprocessor 822, may implement a digital synthesis circuit such as adirect digital synthesizer control scheme to control the waveform shape,frequency, and/or amplitude of drive signals output by the generator800. In one form, for example, the logic device 816 may implement a DDScontrol algorithm by recalling waveform samples stored in a dynamicallyupdated lookup table (LUT), such as a RAM LUT, which may be embedded inan FPGA. This control algorithm is particularly useful for ultrasonicapplications in which an ultrasonic transducer, such as an ultrasonictransducer, may be driven by a clean sinusoidal current at its resonantfrequency. Because other frequencies may excite parasitic resonances,minimizing or reducing the total distortion of the motional branchcurrent may correspondingly minimize or reduce undesirable resonanceeffects. Because the waveform shape of a drive signal output by thegenerator 800 is impacted by various sources of distortion present inthe output drive circuit (e.g., the power transformer 806, the poweramplifier 812), voltage and current feedback data based on the drivesignal may be input into an algorithm, such as an error controlalgorithm implemented by the DSP processor 822, which compensates fordistortion by suitably pre-distorting or modifying the waveform samplesstored in the LUT on a dynamic, ongoing basis (e.g., in real time). Inone form, the amount or degree of pre-distortion applied to the LUTsamples may be based on the error between a computed motional branchcurrent and a desired current waveform shape, with the error beingdetermined on a sample-by-sample basis. In this way, the pre-distortedLUT samples, when processed through the drive circuit, may result in amotional branch drive signal having the desired waveform shape (e.g.,sinusoidal) for optimally driving the ultrasonic transducer. In suchforms, the LUT waveform samples will therefore not represent the desiredwaveform shape of the drive signal, but rather the waveform shape thatis required to ultimately produce the desired waveform shape of themotional branch drive signal when distortion effects are taken intoaccount.

The non-isolated stage 804 may further comprise a first ADC circuit 826and a second ADC circuit 828 coupled to the output of the powertransformer 806 via respective isolation transformers 830, 832 forrespectively sampling the voltage and current of drive signals output bythe generator 800. In certain forms, the ADC circuits 826, 828 may beconfigured to sample at high speeds (e.g., 80 mega samples per second(MSPS)) to enable oversampling of the drive signals. In one form, forexample, the sampling speed of the ADC circuits 826, 828 may enableapproximately 200× (depending on frequency) oversampling of the drivesignals. In certain forms, the sampling operations of the ADC circuit826, 828 may be performed by a single ADC circuit receiving inputvoltage and current signals via a two-way multiplexer. The use ofhigh-speed sampling in forms of the generator 800 may enable, amongother things, calculation of the complex current flowing through themotional branch (which may be used in certain forms to implementDDS-based waveform shape control described above), accurate digitalfiltering of the sampled signals, and calculation of real powerconsumption with a high degree of precision. Voltage and currentfeedback data output by the ADC circuits 826, 828 may be received andprocessed (e.g., first-in-first-out (FIFO) buffer, multiplexer) by thelogic device 816 and stored in data memory for subsequent retrieval by,for example, the DSP processor 822. As noted above, voltage and currentfeedback data may be used as input to an algorithm for pre-distorting ormodifying LUT waveform samples on a dynamic and ongoing basis. Incertain forms, this may require each stored voltage and current feedbackdata pair to be indexed based on, or otherwise associated with, acorresponding LUT sample that was output by the logic device 816 whenthe voltage and current feedback data pair was acquired. Synchronizationof the LUT samples and the voltage and current feedback data in thismanner contributes to the correct timing and stability of thepre-distortion algorithm.

In certain forms, the voltage and current feedback data may be used tocontrol the frequency and/or amplitude (e.g., current amplitude) of thedrive signals. In one form, for example, voltage and current feedbackdata may be used to determine impedance phase. The frequency of thedrive signal may then be controlled to minimize or reduce the differencebetween the determined impedance phase and an impedance phase setpoint(e.g., 0°), thereby minimizing or reducing the effects of harmonicdistortion and correspondingly enhancing impedance phase measurementaccuracy. The determination of phase impedance and a frequency controlsignal may be implemented in the DSP processor 822, for example, withthe frequency control signal being supplied as input to a DDS controlalgorithm implemented by the logic device 816.

In another form, for example, the current feedback data may be monitoredin order to maintain the current amplitude of the drive signal at acurrent amplitude setpoint. The current amplitude setpoint may bespecified directly or determined indirectly based on specified voltageamplitude and power setpoints. In certain forms, control of the currentamplitude may be implemented by control algorithm, such as, for example,a proportional-integral-derivative (PID) control algorithm, in the DSPprocessor 822. Variables controlled by the control algorithm to suitablycontrol the current amplitude of the drive signal may include, forexample, the scaling of the LUT waveform samples stored in the logicdevice 816 and/or the full-scale output voltage of the DAC circuit 818(which supplies the input to the power amplifier 812) via a DAC circuit834.

The non-isolated stage 804 may further comprise a second processor 836for providing, among other things user interface (UI) functionality. Inone form, the UI processor 836 may comprise an Atmel AT91SAM9263processor having an ARM 926EJ-S core, available from Atmel Corporation,San Jose, Calif., for example. Examples of UI functionality supported bythe UI processor 836 may include audible and visual user feedback,communication with peripheral devices (e.g., via a USB interface),communication with a foot switch, communication with an input device(e.g., a touch screen display) and communication with an output device(e.g., a speaker). The UI processor 836 may communicate with the DSPprocessor 822 and the logic device 816 (e.g., via SPI buses). Althoughthe UI processor 836 may primarily support UI functionality, it may alsocoordinate with the DSP processor 822 to implement hazard mitigation incertain forms. For example, the UI processor 836 may be programmed tomonitor various aspects of user input and/or other inputs (e.g., touchscreen inputs, foot switch inputs, temperature sensor inputs) and maydisable the drive output of the generator 800 when an erroneouscondition is detected.

In certain forms, both the DSP processor 822 and the UI processor 836,for example, may determine and monitor the operating state of thegenerator 800. For the DSP processor 822, the operating state of thegenerator 800 may dictate, for example, which control and/or diagnosticprocesses are implemented by the DSP processor 822. For the UI processor836, the operating state of the generator 800 may dictate, for example,which elements of a UI (e.g., display screens, sounds) are presented toa user. The respective DSP and UI processors 822, 836 may independentlymaintain the current operating state of the generator 800 and recognizeand evaluate possible transitions out of the current operating state.The DSP processor 822 may function as the master in this relationshipand determine when transitions between operating states are to occur.The UI processor 836 may be aware of valid transitions between operatingstates and may confirm if a particular transition is appropriate. Forexample, when the DSP processor 822 instructs the UI processor 836 totransition to a specific state, the UI processor 836 may verify thatrequested transition is valid. In the event that a requested transitionbetween states is determined to be invalid by the UI processor 836, theUI processor 836 may cause the generator 800 to enter a failure mode.

The non-isolated stage 804 may further comprise a controller 838 formonitoring input devices (e.g., a capacitive touch sensor used forturning the generator 800 on and off, a capacitive touch screen). Incertain forms, the controller 838 may comprise at least one processorand/or other controller device in communication with the UI processor836. In one form, for example, the controller 838 may comprise aprocessor (e.g., a Meg168 8-bit controller available from Atmel)configured to monitor user input provided via one or more capacitivetouch sensors. In one form, the controller 838 may comprise a touchscreen controller (e.g., a QT5480 touch screen controller available fromAtmel) to control and manage the acquisition of touch data from acapacitive touch screen.

In certain forms, when the generator 800 is in a “power off” state, thecontroller 838 may continue to receive operating power (e.g., via a linefrom a power supply of the generator 800, such as the power supply 854discussed below). In this way, the controller 838 may continue tomonitor an input device (e.g., a capacitive touch sensor located on afront panel of the generator 800) for turning the generator 800 on andoff. When the generator 800 is in the power off state, the controller838 may wake the power supply (e.g., enable operation of one or moreDC/DC voltage converters 856 of the power supply 854) if activation ofthe “on/off” input device by a user is detected. The controller 838 maytherefore initiate a sequence for transitioning the generator 800 to a“power on” state. Conversely, the controller 838 may initiate a sequencefor transitioning the generator 800 to the power off state if activationof the “on/off” input device is detected when the generator 800 is inthe power on state. In certain forms, for example, the controller 838may report activation of the “on/off” input device to the UI processor836, which in turn implements the necessary process sequence fortransitioning the generator 800 to the power off state. In such forms,the controller 838 may have no independent ability for causing theremoval of power from the generator 800 after its power on state hasbeen established.

In certain forms, the controller 838 may cause the generator 800 toprovide audible or other sensory feedback for alerting the user that apower on or power off sequence has been initiated. Such an alert may beprovided at the beginning of a power on or power off sequence and priorto the commencement of other processes associated with the sequence.

In certain forms, the isolated stage 802 may comprise an instrumentinterface circuit 840 to, for example, provide a communication interfacebetween a control circuit of a surgical instrument (e.g., a controlcircuit comprising handpiece switches) and components of thenon-isolated stage 804, such as, for example, the logic device 816, theDSP processor 822, and/or the UI processor 836. The instrument interfacecircuit 840 may exchange information with components of the non-isolatedstage 804 via a communication link that maintains a suitable degree ofelectrical isolation between the isolated and non-isolated stages 802,804, such as, for example, an IR-based communication link. Power may besupplied to the instrument interface circuit 840 using, for example, alow-dropout voltage regulator powered by an isolation transformer drivenfrom the non-isolated stage 804.

In one form, the instrument interface circuit 840 may comprise a logiccircuit 842 (e.g., logic circuit, programmable logic circuit, PGA, FPGA,PLD) in communication with a signal conditioning circuit 844. The signalconditioning circuit 844 may be configured to receive a periodic signalfrom the logic circuit 842 (e.g., a 2 kHz square wave) to generate abipolar interrogation signal having an identical frequency. Theinterrogation signal may be generated, for example, using a bipolarcurrent source fed by a differential amplifier. The interrogation signalmay be communicated to a surgical instrument control circuit (e.g., byusing a conductive pair in a cable that connects the generator 800 tothe surgical instrument) and monitored to determine a state orconfiguration of the control circuit. The control circuit may comprise anumber of switches, resistors, and/or diodes to modify one or morecharacteristics (e.g., amplitude, rectification) of the interrogationsignal such that a state or configuration of the control circuit isuniquely discernable based on the one or more characteristics. In oneform, for example, the signal conditioning circuit 844 may comprise anADC circuit for generating samples of a voltage signal appearing acrossinputs of the control circuit resulting from passage of interrogationsignal therethrough. The logic circuit 842 (or a component of thenon-isolated stage 804) may then determine the state or configuration ofthe control circuit based on the ADC circuit samples.

In one form, the instrument interface circuit 840 may comprise a firstdata circuit interface 846 to enable information exchange between thelogic circuit 842 (or other element of the instrument interface circuit840) and a first data circuit disposed in or otherwise associated with asurgical instrument. In certain forms, for example, a first data circuitmay be disposed in a cable integrally attached to a surgical instrumenthandpiece or in an adaptor for interfacing a specific surgicalinstrument type or model with the generator 800. The first data circuitmay be implemented in any suitable manner and may communicate with thegenerator according to any suitable protocol, including, for example, asdescribed herein with respect to the first data circuit. In certainforms, the first data circuit may comprise a non-volatile storagedevice, such as an EEPROM device. In certain forms, the first datacircuit interface 846 may be implemented separately from the logiccircuit 842 and comprise suitable circuitry (e.g., discrete logicdevices, a processor) to enable communication between the logic circuit842 and the first data circuit. In other forms, the first data circuitinterface 846 may be integral with the logic circuit 842.

In certain forms, the first data circuit may store informationpertaining to the particular surgical instrument with which it isassociated. Such information may include, for example, a model number, aserial number, a number of operations in which the surgical instrumenthas been used, and/or any other type of information. This informationmay be read by the instrument interface circuit 840 (e.g., by the logiccircuit 842), transferred to a component of the non-isolated stage 804(e.g., to logic device 816, DSP processor 822, and/or UI processor 836)for presentation to a user via an output device and/or for controlling afunction or operation of the generator 800. Additionally, any type ofinformation may be communicated to the first data circuit for storagetherein via the first data circuit interface 846 (e.g., using the logiccircuit 842). Such information may comprise, for example, an updatednumber of operations in which the surgical instrument has been usedand/or dates and/or times of its usage.

As discussed previously, a surgical instrument may be detachable from ahandpiece (e.g., the multifunction surgical instrument may be detachablefrom the handpiece) to promote instrument interchangeability and/ordisposability. In such cases, conventional generators may be limited intheir ability to recognize particular instrument configurations beingused and to optimize control and diagnostic processes accordingly. Theaddition of readable data circuits to surgical instruments to addressthis issue is problematic from a compatibility standpoint, however. Forexample, designing a surgical instrument to remain backwardly compatiblewith generators that lack the requisite data reading functionality maybe impractical due to, for example, differing signal schemes, designcomplexity, and cost. Forms of instruments discussed herein addressthese concerns by using data circuits that may be implemented inexisting surgical instruments economically and with minimal designchanges to preserve compatibility of the surgical instruments withcurrent generator platforms.

Additionally, forms of the generator 800 may enable communication withinstrument-based data circuits. For example, the generator 800 may beconfigured to communicate with a second data circuit contained in aninstrument (e.g., the multifunction surgical instrument). In some forms,the second data circuit may be implemented in a many similar to that ofthe first data circuit described herein. The instrument interfacecircuit 840 may comprise a second data circuit interface 848 to enablethis communication. In one form, the second data circuit interface 848may comprise a tri-state digital interface, although other interfacesmay also be used. In certain forms, the second data circuit maygenerally be any circuit for transmitting and/or receiving data. In oneform, for example, the second data circuit may store informationpertaining to the particular surgical instrument with which it isassociated. Such information may include, for example, a model number, aserial number, a number of operations in which the surgical instrumenthas been used, and/or any other type of information.

In some forms, the second data circuit may store information about theelectrical and/or ultrasonic properties of an associated ultrasonictransducer, end effector, or ultrasonic drive system. For example, thefirst data circuit may indicate a burn-in frequency slope, as describedherein. Additionally or alternatively, any type of information may becommunicated to second data circuit for storage therein via the seconddata circuit interface 848 (e.g., using the logic circuit 842). Suchinformation may comprise, for example, an updated number of operationsin which the instrument has been used and/or dates and/or times of itsusage. In certain forms, the second data circuit may transmit dataacquired by one or more sensors (e.g., an instrument-based temperaturesensor). In certain forms, the second data circuit may receive data fromthe generator 800 and provide an indication to a user (e.g., a lightemitting diode indication or other visible indication) based on thereceived data.

In certain forms, the second data circuit and the second data circuitinterface 848 may be configured such that communication between thelogic circuit 842 and the second data circuit can be effected withoutthe need to provide additional conductors for this purpose (e.g.,dedicated conductors of a cable connecting a handpiece to the generator800). In one form, for example, information may be communicated to andfrom the second data circuit using a one-wire bus communication schemeimplemented on existing cabling, such as one of the conductors usedtransmit interrogation signals from the signal conditioning circuit 844to a control circuit in a handpiece. In this way, design changes ormodifications to the surgical instrument that might otherwise benecessary are minimized or reduced. Moreover, because different types ofcommunications implemented over a common physical channel can befrequency-band separated, the presence of a second data circuit may be“invisible” to generators that do not have the requisite data readingfunctionality, thus enabling backward compatibility of the surgicalinstrument.

In certain forms, the isolated stage 802 may comprise at least oneblocking capacitor 850-1 connected to the drive signal output 810 b toprevent passage of DC current to a patient. A single blocking capacitormay be required to comply with medical regulations or standards, forexample. While failure in single-capacitor designs is relativelyuncommon, such failure may nonetheless have negative consequences. Inone form, a second blocking capacitor 850-2 may be provided in serieswith the blocking capacitor 850-1, with current leakage from a pointbetween the blocking capacitors 850-1, 850-2 being monitored by, forexample, an ADC circuit 852 for sampling a voltage induced by leakagecurrent. The samples may be received by the logic circuit 842, forexample. Based changes in the leakage current (as indicated by thevoltage samples), the generator 800 may determine when at least one ofthe blocking capacitors 850-1, 850-2 has failed, thus providing abenefit over single-capacitor designs having a single point of failure.

In certain forms, the non-isolated stage 804 may comprise a power supply854 for delivering DC power at a suitable voltage and current. The powersupply may comprise, for example, a 400 W power supply for delivering a48 VDC system voltage. The power supply 854 may further comprise one ormore DC/DC voltage converters 856 for receiving the output of the powersupply to generate DC outputs at the voltages and currents required bythe various components of the generator 800. As discussed above inconnection with the controller 838, one or more of the DC/DC voltageconverters 856 may receive an input from the controller 838 whenactivation of the “on/off” input device by a user is detected by thecontroller 838 to enable operation of, or wake, the DC/DC voltageconverters 856.

FIG. 21 illustrates an example of a generator 900, which is one form ofthe generator 800 (FIG. 21). The generator 900 is configured to delivermultiple energy modalities to a surgical instrument. The generator 900provides RF and ultrasonic signals for delivering energy to a surgicalinstrument either independently or simultaneously. The RF and ultrasonicsignals may be provided alone or in combination and may be providedsimultaneously. As noted above, at least one generator output candeliver multiple energy modalities (e.g., ultrasonic, bipolar ormonopolar RF, irreversible and/or reversible electroporation, and/ormicrowave energy, among others) through a single port, and these signalscan be delivered separately or simultaneously to the end effector totreat tissue.

The generator 900 comprises a processor 902 coupled to a waveformgenerator 904. The processor 902 and waveform generator 904 areconfigured to generate a variety of signal waveforms based oninformation stored in a memory coupled to the processor 902, not shownfor clarity of disclosure. The digital information associated with awaveform is provided to the waveform generator 904 which includes one ormore DAC circuits to convert the digital input into an analog output.The analog output is fed to an amplifier 1106 for signal conditioningand amplification. The conditioned and amplified output of the amplifier906 is coupled to a power transformer 908. The signals are coupledacross the power transformer 908 to the secondary side, which is in thepatient isolation side. A first signal of a first energy modality isprovided to the surgical instrument between the terminals labeledENERGY1 and RETURN. A second signal of a second energy modality iscoupled across a capacitor 910 and is provided to the surgicalinstrument between the terminals labeled ENERGY2 and RETURN. It will beappreciated that more than two energy modalities may be output and thusthe subscript “n” may be used to designate that up to n ENERGYnterminals may be provided, where n is a positive integer greater than 1.It also will be appreciated that up to “n” return paths RETURNn may beprovided without departing from the scope of the present disclosure.

A first voltage sensing circuit 912 is coupled across the terminalslabeled ENERGY1 and the RETURN path to measure the output voltagetherebetween. A second voltage sensing circuit 924 is coupled across theterminals labeled ENERGY2 and the RETURN path to measure the outputvoltage therebetween. A current sensing circuit 914 is disposed inseries with the RETURN leg of the secondary side of the powertransformer 908 as shown to measure the output current for either energymodality. If different return paths are provided for each energymodality, then a separate current sensing circuit should be provided ineach return leg. The outputs of the first and second voltage sensingcircuits 912, 924 are provided to respective isolation transformers 916,922 and the output of the current sensing circuit 914 is provided toanother isolation transformer 918. The outputs of the isolationtransformers 916, 928, 922 in the on the primary side of the powertransformer 908 (non-patient isolated side) are provided to a one ormore ADC circuit 926. The digitized output of the ADC circuit 926 isprovided to the processor 902 for further processing and computation.The output voltages and output current feedback information can beemployed to adjust the output voltage and current provided to thesurgical instrument and to compute output impedance, among otherparameters. Input/output communications between the processor 902 andpatient isolated circuits is provided through an interface circuit 920.Sensors also may be in electrical communication with the processor 902by way of the interface circuit 920.

In one aspect, the impedance may be determined by the processor 902 bydividing the output of either the first voltage sensing circuit 912coupled across the terminals labeled ENERGY1/RETURN or the secondvoltage sensing circuit 924 coupled across the terminals labeledENERGY2/RETURN by the output of the current sensing circuit 914 disposedin series with the RETURN leg of the secondary side of the powertransformer 908. The outputs of the first and second voltage sensingcircuits 912, 924 are provided to separate isolations transformers 916,922 and the output of the current sensing circuit 914 is provided toanother isolation transformer 916. The digitized voltage and currentsensing measurements from the ADC circuit 926 are provided the processor902 for computing impedance. As an example, the first energy modalityENERGY1 may be ultrasonic energy and the second energy modality ENERGY2may be RF energy. Nevertheless, in addition to ultrasonic and bipolar ormonopolar RF energy modalities, other energy modalities includeirreversible and/or reversible electroporation and/or microwave energy,among others. Also, although the example illustrated in FIG. 21 shows asingle return path RETURN may be provided for two or more energymodalities, in other aspects, multiple return paths RETURNn may beprovided for each energy modality ENERGYn. Thus, as described herein,the ultrasonic transducer impedance may be measured by dividing theoutput of the first voltage sensing circuit 912 by the current sensingcircuit 914 and the tissue impedance may be measured by dividing theoutput of the second voltage sensing circuit 924 by the current sensingcircuit 914.

As shown in FIG. 21, the generator 900 comprising at least one outputport can include a power transformer 908 with a single output and withmultiple taps to provide power in the form of one or more energymodalities, such as ultrasonic, bipolar or monopolar RF, irreversibleand/or reversible electroporation, and/or microwave energy, amongothers, for example, to the end effector depending on the type oftreatment of tissue being performed. For example, the generator 900 candeliver energy with higher voltage and lower current to drive anultrasonic transducer, with lower voltage and higher current to drive RFelectrodes for sealing tissue, or with a coagulation waveform for spotcoagulation using either monopolar or bipolar RF electrosurgicalelectrodes. The output waveform from the generator 900 can be steered,switched, or filtered to provide the frequency to the end effector ofthe surgical instrument. The connection of an ultrasonic transducer tothe generator 900 output would be preferably located between the outputlabeled ENERGY1 and RETURN as shown in FIG. 21. In one example, aconnection of RF bipolar electrodes to the generator 900 output would bepreferably located between the output labeled ENERGY2 and RETURN. In thecase of monopolar output, the preferred connections would be activeelectrode (e.g., pencil or other probe) to the ENERGY2 output and asuitable return pad connected to the RETURN output.

Additional details are disclosed in U.S. Patent Application PublicationNo. 2017/0086914, titled TECHNIQUES FOR OPERATING GENERATOR FORDIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICALINSTRUMENTS, which published on Mar. 30, 2017, which is hereinincorporated by reference in its entirety.

Robotic surgical systems can be used in minimally invasive medicalprocedures. During such medical procedures, a patient can be placed on aplatform adjacent to a robotic surgical system, and a surgeon can bepositioned at a console that is remote from the platform and/or from therobot. For example, the surgeon can be positioned outside the sterilefield that surrounds the surgical site. The surgeon provides input to auser interface via an input device at the console to manipulate asurgical tool coupled to an arm of the robotic system. The input devicecan be a mechanical input devices such as control handles or joysticks,for example, or contactless input devices such as optical gesturesensors, for example.

The robotic surgical system can include a robot tower supporting one ormore robotic arms. At least one surgical tool (e.g. an end effectorand/or endoscope) can be mounted to the robotic arm. The surgicaltool(s) can be configured to articulate relative to the respectiverobotic arm via an articulating wrist assembly and/or to translaterelative to the robotic arm via a linear slide mechanism, for example.During the surgical procedure, the surgical tool can be inserted into asmall incision in a patient via a cannula or trocar, for example, orinto a natural orifice of the patient to position the distal end of thesurgical tool at the surgical site within the body of the patient.Additionally or alternatively, the robotic surgical system can beemployed in an open surgical procedure in certain instances.

A schematic of a robotic surgical system 15000 is depicted in FIG. 22.The robotic surgical system 15000 includes a central control unit 15002,a surgeon's console 15012, a robot 15022 including one or more roboticarms 15024, and a primary display 15040 operably coupled to the controlunit 15002. The surgeon's console 15012 includes a display 15014 and atleast one manual input device 15016 (e.g., switches, buttons, touchscreens, joysticks, gimbals, etc.) that allow the surgeon totelemanipulate the robotic arms 15024 of the robot 15022. The readerwill appreciate that additional and alternative input devices can beemployed.

The central control unit 15002 includes a processor 15004 operablycoupled to a memory 15006. The processor 15004 includes a plurality ofinputs and outputs for interfacing with the components of the roboticsurgical system 15000. The processor 15004 can be configured to receiveinput signals and/or generate output signals to control one or more ofthe various components (e.g., one or more motors, sensors, and/ordisplays) of the robotic surgical system 15000. The output signals caninclude, and/or can be based upon, algorithmic instructions which may bepre-programmed and/or input by the surgeon or another clinician. Theprocessor 15004 can be configured to accept a plurality of inputs from auser, such as the surgeon at the console 15012, and/or may interfacewith a remote system. The memory 15006 can be directly and/or indirectlycoupled to the processor 15004 to store instructions and/or databases.

The robot 15022 includes one or more robotic arms 15024. Each roboticarm 15024 includes one or more motors 15026 and each motor 15026 iscoupled to one or more motor drivers 15028. For example, the motors15026, which can be assigned to different drivers and/or mechanisms, canbe housed in a carriage assembly or housing. In certain instances, atransmission intermediate a motor 15026 and one or more drivers 15028can permit coupling and decoupling of the motor 15026 to one or moredrivers 15028. The drivers 15028 can be configured to implement one ormore surgical functions. For example, one or more drivers 15028 can betasked with moving a robotic arm 15024 by rotating the robotic arm 15024and/or a linkage and/or joint thereof. Additionally, one or more drivers15028 can be coupled to a surgical tool 15030 and can implementarticulating, rotating, clamping, sealing, stapling, energizing, firing,cutting, and/or opening, for example. In certain instances, the surgicaltools 15030 can be interchangeable and/or replaceable. Examples ofrobotic surgical systems and surgical tools are further describedherein.

The reader will readily appreciate that the computer-implementedinteractive surgical system 100 (FIG. 1) and the computer-implementedinteractive surgical system 200 (FIG. 9) can incorporate the roboticsurgical system 15000. Additionally or alternatively, the roboticsurgical system 15000 can include various features and/or components ofthe computer-implemented interactive surgical systems 100 and 200.

In one exemplification, the robotic surgical system 15000 can encompassthe robotic system 110 (FIG. 2), which includes the surgeon's console118, the surgical robot 120, and the robotic hub 122. Additionally oralternatively, the robotic surgical system 15000 can communicate withanother hub, such as the surgical hub 106, for example. In one instance,the robotic surgical system 15000 can be incorporated into a surgicalsystem, such as the computer-implemented interactive surgical system 100(FIG. 1) or the computer-implemented interactive surgical system 200(FIG. 9), for example. In such instances, the robotic surgical system15000 may interact with the cloud 104 or the cloud 204, respectively,and the surgical hub 106 or the surgical hub 206, respectively. Incertain instances, a robotic hub or a surgical hub can include thecentral control unit 15002 and/or the central control unit 15002 cancommunicate with a cloud. In other instances, a surgical hub can embodya discrete unit that is separate from the central control unit 15002 andwhich can communicate with the central control unit 15002.

Robotic Surgical Assembly

Turning now to FIGS. 23-25 and 27, the robotic surgical assembly 40100is connectable to an interface panel or carriage 40042, which isslidably mounted onto the rail 40040. The carriage 40042 supports orhouses a motor “M” (FIG. 26) that receives controls and power from thecontrol device 13004 (FIG. 4). The carriage 40042 may be moved along therail 40040 via a motor driven chain or belt 40041 or the like.Alternatively, the carriage 40042 may be moved along the rail 40040 viaa threaded rod/nut arrangement. For example, the carriage 40042 maysupport a threaded nut or collar, which receives a threaded rodtherethrough. In use, as the threaded rod is rotated, the threadedcollar, and in turn, the carriage 40042 are caused to be translatedalong the rail 40040. A coupling, or the like, is connected to a driveshaft of the motor M, and may be rotated clockwise or counter clockwiseupon an actuation of the motor M. While a chain/belt 40041 or threadedrod and collar arrangement are described, it is contemplated that anyother systems capable of achieving the intended function may be used(e.g., cable drives, pulleys, friction wheels, rack and pinionarrangements, etc.).

The carriage 40042 includes a coupling flange 40043 extending orprojecting from a rear panel thereof and from the rail 40040. Thecoupling flange 40043 of the carriage 40042 defines an opening or bore40043 a therethrough and rotatably supports an instrument rotation gearor pulley 40048. The pulley 40048 has ring-shaped, non-circular,transverse cross-sectional profile passage or opening therethrough(e.g., substantially D-shaped, or the like) which defines a key-way fornon-rotational receipt of a drive transfer assembly 40140 of the sterilebarrier housing 40130. The pulley 40048 is rotatably supported in thecoupling flange 40043 by journal bearings or the like.

A sterile shell or barrier 40060 is provided, which shrouds or coversthe carriage 40042. Shell 40060 includes a rear shell portion 40060 aconfigured and adapted to cover the rear panel of the carriage 40042 andan annular shell portion 40060 b extending from rear shell portion 40060a and configured to cover the coupling flange 40043 of the carriage40042. The annular shell portion 40060 b of the shell 40060 defines anopening 40060 c in registration with a passage or opening 40048 a of thepulley 40048 having a non-circular, transverse cross-sectional profile(e.g., substantially D-shaped, or the like). A sterile drape 40061 orthe like may be secured or adhered to the shell 40060 and may be pulledover the rail 40040 and the robotic arms 13002, 13003 (FIG. 4) toestablish and maintain a sterile barrier between the patient 13013 (FIG.4), the surgical field, and/or the robotic surgical system 13000 (FIG.4).

The robotic surgical assembly 40100 includes a sterile barrier housing40130 configured to mate with or otherwise connect to the shell 40060.The sterile barrier housing 40130 includes a hollow shell or body 40132defining a cavity therein. The sterile barrier housing 40130 pivotallyor hingedly supports a proximal cap or cover 40134 configured andadapted to selectively close a proximal end of the body 40132. Thesterile barrier housing 40130 further includes a drive transfer assembly40140 supported on, or connected to, a distal end of the body 40132.

The cavity of the body 40132 of the sterile barrier housing 40130 isconfigured to slidably receive a motor pack 40050 or the like therein.The motor pack 40050 may include four motors 40052, 40054, 40056, 40058arranged in a rectangular formation such that respective drive shafts40052 a, 40054 a, 40056 a, 40058 a thereof are all parallel to oneanother and all extend in a common direction. The drive shaft 40052 a,40054 a, 40056 a, 40058 a of each motor 40052, 40054, 40056, 40058,respectively, may operatively interface with a respective drive coupler(of which only driver coupler 44144 a is shown in FIG. 81B) of the drivetransfer assembly 44140 (FIG. 81A) of the sterile barrier housing 40130.The motor pack 40050 may include four canister motors or the like, eachhaving a drive shaft having a non-circular transverse cross-sectionalprofile (e.g., substantially D-shaped, or the like).

For an exemplary motor pack 40050 for use in the robotic surgicalassembly 40100, reference may be made to U.S. Provisional PatentApplication Ser. No. 62/181,817, filed on Jun. 19, 2015, entitled“Robotic Surgical Assemblies,” the entire contents of which areincorporated by reference herein.

The motor couplers 40052 b, 40054 b, 40056 b, 40058 b may benon-rotatably connected to a respective drive shaft 40052 a, 40054 a,40056 a, 40058 a of each motor 40052, 40054, 40056, and 40058,respectively. Each motor coupler 40052 b, 40054 b, 40056 b, 40058 b mayhave a substantially tubular configuration defining a lumen therethroughhaving a non-circular, transverse cross-sectional profile. The lumen ofeach motor coupler 40052 b, 40054 b, 40056 b, 40058 b is configured tonon-rotatably engage and/or receive respective drive shaft 40052 a,40054 a, 40056 a, 40058 a of each motor 40052, 40054, 40056, 40058,respectively, wherein the lumens may have a substantially D-shaped,transverse cross-sectional profile.

Each motor coupler 40052 b, 40054 b, 40056 b, 40058 b includes one ormore distally extending tab 40052 c, 40054 c, 40056 c, 40058 c, whichis/are configured to engage a respective mating feature or slot of thedrive couplers (e.g., drive coupler 44144 a) of the drive transfershafts 44144, 44146, 44148, 44150 (FIG. 81A) of the sterile barrierhousing 40130 to transmit rotational forces from the motors 40052,40054, 40056, 40058 to respective drive transfer shafts 44144, 44146,44148, 44150 of the drive transfer assembly 44140 in the manner of an“Oldham coupling.” This Oldham-type coupling limits backlash and enablesautocorrecting when components thereof are slightly misaligned with oneanother. In some embodiments, one or more of these tabs and/or slots mayhave complementary V-shaped configurations. It is contemplated that anyrotational force transmitting feature may be provided at the distal endof the motor couplers 40052 b, 40054 b, 40056 b, 40058 b. In use, as anyone of the motors 40052, 40054, 40056, 40058 is activated to rotate arespective drive shaft 40052 a, 40054 a, 40056 a, 40058 a, theparticular drive shaft drive shaft 40052 a, 40054 a, 40056 a, 40058 atransmits the rotation to the respective motor coupler 40052 b, 40054 b,40056 b, 40058 b, which in turn, transmits the rotation (via tabs 40052c, 40054 c, 40056 c, 40058 c) to the respective drive couplers (e.g.,drive coupler 44144 a) of the drive transfer shafts 44144, 44146, 44148,44150 of the drive transfer assembly 400140. Such an arrangement andcoupling permit a degree of flotation of the motor couplers 40052 b,40054 b, 40056 b, 40058 b and the drive couplers (e.g., drive coupler44144 a) in any radial direction relative to a longitudinal axisthereof.

The robotic surgical assembly 40100 includes a lock ring or collar 40160rotatably supported on the distal end of the body 40132 of the sterilebarrier housing 40130. The lock collar 40160 projects distally from thebody 40132 of the sterile barrier housing 40130 and defines an internalthread configured for threadable connection to a proximal ring connector40171 of the sterile barrier collar assembly 40170, which is describedbelow.

The robotic surgical assembly 40100 includes a sterile barrier collarassembly 40170 connectable to the annular shell 40060 b of the shell40060 and extendable through the D-shaped passage or opening of thepulley 40048. Specifically, the sterile barrier collar assembly 40170includes a tubular sleeve body 40172 having a non-circular, transversecross-sectional outer profile (e.g., substantially D-shaped, or thelike) and an inner bore 40172 a having a complementary non-circular,transverse cross-sectional profile (e.g., substantially D-shaped, or thelike).

The sterile barrier collar assembly 40170 further includes asemi-annular coupling cuff 40176 supported on or otherwise secured to adistal end of the tubular sleeve body 40172. The coupling cuff 40176includes a U-shaped body portion having an open side edge or instrumentopening that opens distally and laterally and a pair of opposed sidearms. Each side arm of the body portion includes a ramp surface formedin or projecting from an inner juxtaposed surface thereof. Each rampincreases in height from a distal end (near the open side edge) to aproximal end (near a back span of the body portion). It is contemplatedthat each ramp may be angled at approximately 10° relative to a planardistal surface of the coupling cuff 40176. Each side arm of the bodyportion further includes a recess or channel formed in a surface thereofthat is configured to slidably receive a respective arm or tab of adistal floating plate that is connected to or otherwise extending from adistal end of the tubular sleeve body 40172.

Turning now to FIGS. 26 and 28-29, various views of a robotic surgicalassembly, also referred to as an instrument drive unit (IDU) 41110, areshown. As described above, the IDU 41110 transfers power and actuationforces from its motors to driven members (not shown) ofelectromechanical surgical instrument 41300 to ultimately drive movementof components of the end effector of electromechanical surgicalinstrument 41300, for example, a movement of a knife blade (not shown)and/or a closing and opening of jaw members of the end effector, theactuation or firing of a stapler, and/or the activation or firing of anelectrosurgical energy-based instrument, or the like. The motor assembly41114 of the IDU 41110 is rotated by a motor “M” supported in the IDUholder 41102 and transfers its rotational motion to electromechanicalsurgical instrument 41300.

The IDU holder 41102 of surgical assembly 41100 functions both toactuate a rotation of motor assembly 41114 of the IDU 41110 and toeffect axial translation of IDU 41110 along the rail 40040 (FIG. 24) ofthe robotic arms 13002, 13003 (FIG. 4). The IDU holder 41102 includes aback member or carriage 41104 and an outer member or outer housing14106, also referred to as a sterile shell or barrier 40060 (FIG. 23),extending laterally (e.g., perpendicularly) from a distal end 41107 ofcarriage 41104. In some embodiments, the housing 41106 may extend atvarious angles relative to carriage 41104 and from various portions ofcarriage 41104. The carriage 41104 has a first side and a second side,opposite the first side. The first side of the carriage 41104 isdetachably connectable to the rail 40040 of the robotic arms 13002,13003 to enable the IDU holder 41102 to slide or translate along rail40040 of the robotic arms 13002, 13003. The second side of the carriage41104 is configured to support a housing 41112 or the like of the IDU41110.

The carriage 41104 of the IDU holder 41102 supports or houses a motor,such as, for example, canister motor “M” therein. Motor “M” receivescontrols and power from control device 13004 (FIG. 4) to ultimatelyrotate internal motor assembly 41114 of IDU 41110. Carriage 41104includes a printed circuit board 41109 in electrical communication withmotor “M” of carriage 41104 to control an operation of motor “M” ofcarriage 41104. Carriage 41104 further includes a belt or gear drivemechanism 41111 that extends distally from motor “M.” Drive mechanism41111 is configured to operably interface with motor assembly 41114 ofIDU 41110 to effect a rotation of motor assembly 41114 upon actuation ofmotor “M” of carriage 41104.

The housing 41112 of IDU 41110 is engaged to the second side of carriage41104 of IDU holder 41102 so as to shroud, cover, and protect the innercomponents of IDU 41110 and carriage 41104. Housing 41112 of IDU 41110may have a generally cylindrical configuration, but in some embodiments,housing 41112 may assume a variety of configurations, such as, forexample, squared, triangular, elongate, curved, semi-cylindrical, or thelike. As mentioned above, housing 41112 protects or shields variouscomponents of IDU 41110 including motor assembly 41114 and a flex spoolassembly 41200 for transferring power and data to components of IDU41110. Housing 41112 also provides a platform 41116 on which the innercomponents of IDU 41110 are attached.

IDU 41110 includes a fan 41150 disposed within a top portion thereof andis located above flex spool assembly 41200. Fan 41150 is connected toflex spool assembly 41200 via a connector (not explicitly shown) toprovide adjustable power to fan 41150. A top portion 41112 a of housing41112 may define a plurality of vents or slits 41152 therein to allowfor air to transfer out of IDU 41110. Fan 41150 is configured to drawair through flex spool assembly 41200 and out of top portion 41112 a ofhousing 41112 through slits 41152 to cool electronics during operationthereof and to maintain a negative pressure through IDU 41110. The flexspool assembly 41200 is configured to adjust the amount of powerdelivered to fan 41150 based on the temperature within IDU 41110. Speedcontrollers (not shown) associated with flex spool assembly 41200 and/orintegrated circuit 41120 may be provided to control a speed of fan 41150to adjust a cooling rate. For example, the speed control may adjust theelectrical current that is delivered to fan 41150 to adjust a speedthereof.

The IDU 41110 includes the integrated circuit 41120 and the motorassembly 41114 each rotatably disposed therewithin. In some embodiments,IDU 41110 may include brackets and/or stops configured to compensate forloads directed on motor assembly 41114 and/or integrated circuit 41120in a direction that is perpendicular or transverse to the longitudinalaxis defined by IDU 41110. Integrated circuit 41120 includes a top rigidprinted circuit board or nexus and four elongate rigid printed circuitboards 41124 a, 41124 b, 41126 a, 41126 b that extend perpendicularlyfrom top printed circuit board 41122. Top printed circuit board 41122has one or more male electrical connectors 41128 for coupling to one ormore female electrical connectors 41216 a of flex spool assembly 41200.

The elongate printed circuit boards 41124 a, 41124 b, 41126 a, 41126 bare parallel with one another and are disposed along a longitudinal axisof IDU 41110. Elongate printed circuit boards 41124 a, 41124 b, 41126 a,41126 b include a first pair of elongate printed circuit boards 41124 a,41124 b that oppose one another and a second pair of elongate printedcircuit boards 41126 a, 41126 b that oppose one another. Elongateprinted circuit boards 41124 a, 41124 b, 41126 a, 41126 b cooperativelyform a rectangular configuration and define a cavity therein configuredfor slidable receipt of motor assembly 41114. It should be appreciatedthat circuit boards 41124 a, 41124 b, 41126 a, 41126 b and nexus 41122of integrated circuit 41122 may be configured in any number ofstructural combinations, such as, for example, first, second, third, andfourth circuit boards 41124 a, 41124 b, 41126 a, 41126 b being coupled,side-by-side, where one of first, second, third, or fourth circuit board41124 a, 41124 b, 41126 a, 41126 b is further coupled to one side of afirst, second, third, or fourth side of nexus 41122. In someembodiments, integrated circuit 41120 may have various connectors, flexcables, or wires used to interconnect elongate printed circuit boards41124 a, 41124 b, 41126 a, 41126 b to one another and/or to nexus 41122.

First pair of elongate printed circuit boards 41124 a, 41124 b have afirst end portion in electrical communication with nexus 41122 and asecond end portion in electrical communication with motor assembly 41114to transfer power from printed circuit assembly 41200 to motor assembly41114, as will be described in detail below. Second pair of elongateprinted circuit boards 41126 a, 41126 b have a first end portion inelectrical communication with nexus 41122 and a distal end in electricalcommunication with various electrical components of IDU 41110 and/orsurgical instrument 41300 to transfer communication signals and/or powerto the various electrical components of IDU 41110 and surgicalinstrument 41300.

The electrical components of IDU 41110 may include, but are not limitedto, transducers, encoders, gyroscopes, magnetometers, distal limitsensors, pressure sensors, torsional sensors, load cells, opticalsensors, position sensors, heat sensors, illumination elements, cameras,speakers, audible emission components, motor controllers, LEDcomponents, microprocessors, sense resistors, accelerometers, switchesto monitor, limit and control positional limits, etc. In someembodiments, each of these electrical components may be incorporatedinto flex spool assembly 41200 of IDU 41110.

Motor assembly 41114 of IDU 41110 is non-rotatably disposed within thecavity of integrated circuit 41120. Motor assembly 41114 may includefour motors “M1-M4,” for example, canister motors or the like, eachhaving a drive shaft 41138, 41140 (only drive shafts of two motors ofmotors “M1-M4” being shown in FIG. 26) having a non-circular, transversecross-sectional profile (e.g., substantially D-shaped, or the like), asis described above. The four motors “M1-M4” are arranged in arectangular formation such that respective drive shafts 41138, 41140thereof are all parallel to one another and all extending in a commondirection. As the motors “M1-M4” of the motor assembly 41114 areactuated, rotation of the respective drive shafts 41138, 41140 of themotors “M1-M4” is transferred to gears or couplers of drive assembliesof surgical instrument 41300 via respective drive transfer shafts toactuate various functions of surgical instrument 41300.

Flex spool assembly 41200 of IDU 41110 is configured to transfer powerand information (e.g., signals that direct actuation of certainfunctions of IDU 41110 and surgical instrument 41300) from controldevice 13004 to an integrated circuit 41120 of IDU 41110. Flex spoolassembly 41200 generally includes a first flex circuit 41210 and asecond flex circuit 41220. First flex circuit 41210 is configured toelectrically interconnect control device 13004 and a plurality ofelectrical components (e.g., motors, various sensors, transducers, etc.)of IDU 41110 and/or surgical instrument 41300.

IDU 41110 further includes a spindle assembly 41230 for transferringrotational motion from motor assembly 41114 to first flex circuit 41210.Spindle assembly 41230 includes an outer annular member 41232, and aninner annular member or ring member 41234. Outer annular member 41232 isfastened to a proximal end portion of motor assembly 41114 via fasteners41236. Inner annular member 41234 is fastened to outer annular member41232 via fasteners 41238 and is rotatable relative to platform 41116such that outer annular member 41234 rotates relative to platform 41116.In embodiments, outer and inner annular members 41232, 41234 of spindleassembly 41230 may be of a single integral construction. A lubriciouscoating may be applied to surfaces of spindle assembly 41230 thatcontact platform 41116 or to the surfaces of platform 41116 that contactspindle assembly 41230, such that spindle assembly 41230 rotatesrelative to platform with limited friction. Accordingly, the lubriciouscoating may include any suitable material, such as, for example,ultra-high molecular weight polyethylene, nylon, acetal, orpolytetrafluoroethylene.

Robotic Surgical Assembly Cooling

Cooling the IDU 40110 (FIG. 23) of a robotic surgical assembly 41100(FIG. 23) for a robotic surgical system 13000 (FIG. 4) can bechallenging because of the fact that the instrument drive unit can belocated at least partially within the sterile field during the course ofa surgical procedure. As described above, the IDU 40110 can include afan 41150 (FIGS. 26 and 28-29) to promote air transfer out of the IDU40110 for cooling the IDU 40110 during use; however, this can create twoissues. First, if the air intake of the fan 41150 is from outside of thesterile field and the fan 41150 releases the circulated air into thesterile field, then the fan 41150 can be releasing nonsterile air intothe sterile field, which can result in contamination of the sterilefield. Second, if the air intake of the fan 41150 is from inside of thesterile field, then the fan 41150 could potentially intake a contaminantfrom the sterile field and then cause that contaminant to beproliferated through the surgical theater, outside of the bounds of thesterile field. Therefore, there is a need for robotic surgical assemblycooling systems that address these and other issues.

In various aspects, contamination of the surgical site, sterile field,and/or surgical theater by air-circulating cooling systems can beprevented by controlling heat transfer and air circulation within therobotic surgical system 13000 and/or IDU 40110. For example, an airfilter (e.g., an ultra-low particular air (ULPA) filter) can beintegrated into or otherwise positioned at the air intake manifold toensure that air exhausted from the robotic surgical system 13000 issterile. As another example, the robotic surgical system 13000 caninclude a circulation path where the air intake and the exhaust are bothdirected to an area of the robotic surgical system 13000 outside of thesterile surgical area. In one aspect, the air circulation path could bedirected towards or connected to the smoke evacuation system in order toleverage the smoke evacuation system's integral, high-quality airfilters. As yet another example, the robotic surgical system 13000 canbe configured to ionically collect particulates from air that is drawninto or exposed to the cooling system. In one aspect, the roboticsurgical system 13000 can include an ionizing air filter configured tocapture particulates within the air drawn into the cooling system. Theionizing air filter can include plates that are configured to collectcharged particles that are drawn into the device. The removable chargedplates could be cleaned and reused. Further, the charged plates couldpermit testing and identification of particulates captured from theindrawn air. The charged plates could have the capability of activelyattracting a variety of different contaminants and particulates from theair passing through the ionizing air filter, including bacterialcontaminants. These systems and other examples will be discussed ingreater detail below.

In such aspects, dedicated heat management systems can be implementedwithin or in conjunction with the sterile barrier, such as byintegrating a cooling apparatus within the air circulation flow path orcoupling the cooling apparatus to the IDU 40110. For example, thecooling system can be in thermal cooperation with the IDU 40110 and/orcomponents thereof (including, for example, the motor assembly), but thecooling air circulation path can be isolated from the internal air ofthe IDU 40110. As another example, the cooling system can include acooling circulation system that can include fluid and/or vaporousaspects in order to transfer heat from the IDU 40110 to a location forventing to the atmosphere remote from the robotic arm 13120. As anotherexample, the cooling system can include a Peltier cooling element toextract heat from the IDU 40110 and other heat-generating components ofthe robotic surgical system 13000 for transfer to other surfaces exposedto convection from dedicated air-flow pathways.

Referring now to FIGS. 30 and 31, in some aspects the sterile drape 3000can be dimensioned or configured to cover the IDU 3002 when affixed tothe robotic arm 13120, as opposed to the IDU 3002 being exposed to thesterile field, as shown in FIGS. 23-25. For example, FIG. 30 is a sideelevational view of a robotic arm 13120 comprising an air-based coolingsystem for an IDU 3002 positioned within the sterile drape 3000. In thisaspect, the sterile drape 3000 includes an air intake filter 3004through which ambient air (e.g., air from the sterile field) is indrawninto the interior 3008 of the sterile barrier 3000. The filter 3004 caninclude, for example, an ULPA filter or an ionizing air filter. Thefilter 3004 is configured to remove contaminants and other particulatesfrom the indrawn ambient air. Once it has been drawn through the filter3004, the air can pass into the IDU 3002 (e.g., through a port thereon)at which point it is heated by the electronics, motors, and otherinterior components of the IDU 3002 and then exhausted by the IDU fan3006 (e.g., the fan 41150 from FIGS. 26, 28, and 29) into the interior3008 of the sterile drape 3000, carrying thermal energy away from theIDU 3002. The heated air is then drawn through the interior 3008 of thesterile drape 3000 and exhausted into or at a secondary location 3010remote from the robotic surgical arm 13120. The secondary location 3010can include, for example, an enclosure. In one aspect, the secondarylocation 3010 can include a smoke evacuation system to which theinterior 3008 of the sterile drape 3000 is fluidically coupled. Inanother aspect, the secondary location 3010 can include atmospherewithin a room or another such enclosure.

In addition to air-based cooling systems, the robotic surgical system13000 could also include fluid-based cooling systems. For example, FIG.31 is a side elevational view of a robotic arm 13120 comprising afluid-based cooling system for an IDU 3002 positioned within the steriledrape 3000. In this aspect, the robotic surgical system 13000 can definea fluid circulation path coupled to the IDU 3002 and that extends atleast partially through the robotic arm 13120. The fluid circulationpath can include a first tube 3012 a configured to transport a coolingfluid (e.g., water) to the IDU 3002 and/or a heat exchanger coupled tothe IDU 3002 and a second tube 3012 b configured to transport the fluidheated by the IDU 3002 to a secondary location 3010, as described above.

In other aspects, the IDU 3002 can be positioned externally to thesterile drape 3000 and can be configured to include a sealed coolingsystem enclosed from the sterile field. For example, FIG. 32 is aperspective view of a fluid-based, enclosed cooling system for an IDU3002 positioned externally to the sterile drape 3000. In this aspect,the first tube 3012 a and the second tube 3012 b are fluidically coupledto a pair of connectors 3020 disposed on the carriage 3016 (or thesterile barrier thereof) that is configured to receive and secure theIDU 3002. Further, the IDU 3002 likewise includes a pair of connectors3018 disposed thereon. The IDU connectors 3018 can be fluidicallycoupled to the carriage connectors 3020 via a first connector tube 3014a and a second connector tube 3014 b, in order to fluidically couple thefirst tube 3012 a and the second tube 3012 b to the IDU 3002 forproviding cooling fluid thereto and removing heated fluid therefrom forcooling the IDU 3002. In operation, the first tube 3012 a can transportcooling liquid through the sterile drape 3000 to the first connectortube 3014 a via a carriage connector 3020, which in turn transports thecooling liquid to the IDU 3002 through the corresponding IDU connector3018. The cooling fluid is then passed through a heat exchanger or otherassembly for transferring thermal energy from the motors, electronics,and/or other components of the IDU 3002 to the cooling liquid. At thatpoint, the heated liquid is transported to the second connector tube3014 b via the corresponding IDU connector 3018, which in turntransports the heated liquid to the second tube 3012 b via thecorresponding carriage connector 3020. The second tube 3012 b thencarries then heated liquid to the secondary location 3010, as describedabove. The cooling system can thus be entirely fluidically isolated fromthe sterile environment.

In various aspects, the robotic surgical system 1300 could also beconfigured to include cooling air inlets and outlets within the roboticsurgical assembly 40100 that are oriented to mitigate the intake ofcontaminants from the sterile field. For example, the air inlets andoutlets can be oriented so that the air drawn into the cooling system isdirected either obliquely relative to or away from the surgical site soas to not create a substantial air differential within the sterilefield, reducing the intake of fluids or aerosols that may be presentwithin the sterile field.

In various aspects, contamination of the surgical site, sterile field,and/or surgical theater by air-circulating cooling systems can beprevented by integrating thermal management elements within theelectronics systems of the robotic surgical system 13000 and/or IDU 3002that are sealed and/or isolated from the sterile field. Referring now toFIGS. 33 and 34, the electronics 3022 of the IDU 3002 (e.g., theintegrated circuit 41120 in FIG. 26) can be fluidically sealed toprevent contamination and/or exposure to particulates from air and/orfluid circulated through the IDU 3002 for cooling. In various aspects, asealing layer 3024 can thus be defined about the IDU electronics 3022.The sealing layer 3024 can include, for example, epoxy, acrylate,ultraviolet-curable adhesive, polyurethane, polysulfide (or othersolidifying resin), silicone, fluorosilicone (or other suitable polymersor elastomers), or combinations thereof. The materials of the sealinglayer 3024 can be deposited via potting or encapsulation techniques, forexample. Sealing the electronics 3022 can inhibit cooling and/orexacerbate thermal buildup; therefore, the IDU 3002 can include variouscooling elements to mitigate these deleterious effects.

As one example, FIG. 33 illustrates an aspect including heat sink fins3026 in thermal communication with the electronics 3022 and extendingthrough the sealing layer 3024 for dispersing heat generated from theelectronics 3022. The heat radiated by the fins can then be dispersedfrom the IDU 3002 via air- or fluid-based cooling systems, as describedabove. In one aspect, the illustrated assembly could be fabricated byadhesively bonding the heat sink fins 3026 to the electronics 3022 via athermally conductive material (in order to promote thermal communicationbetween the electronics 3022 and the heat sink fins 3026) and thesealing layer 3024 can then be applied thereover to cover theelectronics 3022 to create a fluid and air barrier, while still enablingthe heat sink fins 3026 to be placed into an air- or fluid-basedcirculation path to allow for thermal transfer from the electronics3022. In one aspect, the heat sink fins 3026 can be positioned at oradjacent to a particular structure or set of structures for whichadditional cooling is desired. In yet another aspect, the heat sink fins3026 can be positioned at or adjacent to components of the IDU 3002other than or in addition to the electronics 3022. For example, the heatsink fins 3026 could be integrated into the housing of the motor pack40050 such that they are in thermal communication with the motors 41052,41054, 41056, 41056 (FIG. 27), or other components of the motor assembly41114 (FIG. 26).

As another example, FIG. 34 illustrates as aspect including one or moreconduits 3028 extending through the sealing layer 3024 and in thermalcommunication with the electronics 3022. The conduits 3028 can be partof the circulation path of the cooling system and thus be fed coolingfluid from an inlet 3030 (e.g., coupled to the first tube 3012 a) andremove the heated fluid via an outlet 3032 (e.g., coupled to the secondtube 3012 b). The conduits 3028 can extend through the sealing layer3024 such that at least a portion of the walls of the conduits 3028 arein contact or thermal communication with the electronics 3022.Accordingly, as the cooling fluid travels through the conduits 3028,thermal energy is transferred from the electronics 3022 to the fluid,which is then removed from the IDU 3002 via the outlet 3032. In oneaspect, a cleaning solution can be introduced through the conduits 3028to clean and sterilize the air or fluid circulation path of the coolingsystem, without contacting the electronics 3022, motor assembly 41114,and/or other components of the IDU 3002.

In any of the aspects described above where the cooling systems includeair or fluid circulated through the IDU 3002, the cooling systems canadditionally include pumps, blowers, tubing, and other componentsnecessary for driving the air or fluid through the circulation path. Thepumps, blowers, and other such components can be located locally withrespect to the robotic arm 13120 or positioned remotely therefrom.

As another example, a Peltier cooling element could be integrated intothe sealing layer 3024. In one aspect, the Peltier cooling element couldbe positioned in proximity to a critical structure within the IDU 3002for which it was especially desirable or difficult (e.g., due toengineering constraints) to cool. Thus, the Peltier cooling elementcould be used to extract heat from the critical structure and transferthe heat to areas, either within the IDU 3002 and/or outside of the IDU3002, with a higher convective heat transfer rate than the area at oraround the critical structure.

In other aspects, cooling systems for the IDU 3002 can be integratedinto the sterile barrier components of the robotic surgical assembly40100 for cooling the nonsterile components housed thereby. For example,in an aspect illustrated in FIGS. 35 and 36 the sterile barrier housing40130 configured to receive a motor pack 40050 can include one or moreheat sink fins 3034 that extend through the wall of the sterile barrierhousing 40130 and contact the motor pack 40050 (when the motor pack40050 is positioned therein) for dispersing heat generated by the motorpack 40050. In one aspect, the heat sink fins 3034 can further be biasedtowards the interior of the sterile barrier housing 40130 via, forexample, springs 3036. The biasing of the heat sink fins 3034 ensuresthat they physically contact, and are thus in thermal communicationwith, the motor pack 40050 to maintain heat conduction from the motorpack 40050 to the heat sink fins 3034. The portion of the heat sink fins3034 interior to the sterile barrier housing 40130 can further include achamfered edge 3038 in order to slidably direct the motor pack 40050into position within the sterile barrier housing 40130 as the motor pack40050 is received thereby. Due to the physical contact between the heatsink fins 3034 and the motor pack 40050, the heat sink fins 3034 absorbheat generated by the motor pack 40050 and then convectively dispersethe absorb heat into the surrounding environment (e.g., the surgicaltheater) to cool the motor pack 40050 and the IDU 3002 as a whole.

Sterile Drape

As described above, a sterile drape 3000 may be utilized in conjunctionwith the robotic arm 13120 and/or robotic surgical assembly 40100 (FIG.26) to establish and maintain a sterile barrier between the patient13013 (FIG. 4), the surgical field, and/or the robotic surgical system13000 (FIG. 4). The sterile drape 3000 can be deployable in a variety ofdifferent manners for enshrouding the robotic arm 13120 and/or variouscomponents of the robotic surgical assembly 40100. Furthermore, thesterile drape 3000 can include a variety of different materials andstructures for communicating information to the surgical staff, such aswhether the sterile drape 3000 has suffered a breach (due to, e.g., apuncture or abrasion).

In one aspect illustrated in FIG. 37, a sterile drape 3000 can includeone or more first connectors 3040 positioned along a first edge 3039 andone or more second connectors 3042, which are configured to removablyengage the first connectors 3040, positioned along an opposing secondedge 3041. The first connectors 3040 can include male connectors and thesecond connectors 3042 can include corresponding female connectors, orvice versa, for example. The first connectors 3040 and the secondconnectors 3042 can be arranged such that, when they are joinedtogether, the sterile drape 3000 can form a generally tubular structurethat is shaped and dimensioned to enshroud a robotic arm 13120 and/orother component(s) of the robotic surgical assembly 40100. The removableconnectors 3040, 3042 can thereby allow the sterile drape 3000 to besecured about the robotic arm 13120 and/or robotic surgical assembly40100 after the sterile components of the robotic surgical assembly40100 (i.e., the sterile barrier housing 40130 for the motor pack 40050and the sterile shell or barrier 40060 for the carriage 40042) aresecured in place. The connectors 3040, 3042 can include a variety ofdifferent types and configurations of connectors or closure elements.For example, in the aspect illustrated in FIG. 38A, the connectors 3040,3042 can define a single, inter-meshable closure positionedlongitudinally along the edges 3039, 3041 of the sterile drape 3000 thatis joinable in the manner of a zip fastener. As another example, in theaspect illustrated in FIG. 38A, the connectors 3040, 3042 can definecorresponding male and female snap features that are positioned atdiscrete locations along the edges 3039, 3041 of the sterile drape 3000.

In one aspect, the sterile drape 3000 can further include an adhesivelayer positioned along at last one of the edges 3039, 3041 of thesterile drape 3000. In operation, the adhesive layer could be exposedand then adhered over the connectors 3040, 3042 to provide additionalsecurement to the line of connection of the sterile drape 3000. Inanother aspect, the sterile drape 3000 can further include protuberancesor grips located at or adjacent to the connectors 3040, 3042 in order toassist users in bringing the opposing edges 3039, 3041 of the steriledrape 3000 together and aligning the respective connectors 3040, 3042while maintaining sterile technique.

In one aspect, the sterile drape 3000 can include a plurality ofinterlocking segments that are detachably connectable together toconform to a robotic arm 13120. Such combinations of interlockingsegments can allow a robotic arm 13120 to be progressively barrieredoff, for example. For example, FIGS. 39A and 39B illustrate a sterilebarrier 3000 that includes a first segment 3000 a, a second segment 3000b, a third segment 3000 c, and a fourth segment 3000 d that aredetachably connectable together at connection points 3044. Each of thesegments 3000 a, 3000 b, 3000 c, 3000 d of the sterile drape 3000 can bedimensioned or otherwise configured to conform to a specific portion orcomponent of the robotic arm assembly. Further, although the steriledrape 3000 is illustrated as including four segments 3000 a, 3000 b,3000 c, 3000 d in FIGS. 39A-39C, this is simply for illustrativepurposes and the sterile drape 3000 can, in various aspects, have anynumber of segments 3000 a, 3000 b, 3000 c, 3000 d. In one aspect, thecorresponding segments can be connected both to each other and therobotic arm 13120 at the connection points 3044. For example, therobotic arm 13120 can include a first connector 3046 (e.g., a maleconnector) that is configured to engage with a corresponding secondconnector 3048 (e.g., a female connector) disposed on one of the steriledrape segments (which is the second segment 3000 b in the detail viewshown in FIG. 39B). That sterile drape segment can then also include athird connector 3050 (e.g., a male connector) that is configured toengage with a corresponding fourth connector (e.g., a female connector)disposed on the corresponding sterile drape segment (which is the firstsegment 3000 a in the detail view shown in FIG. 39B). Further, thesterile drape segments can be constructed in different manners. Forexample, some of the sterile drape segments could include tubularstructures (e.g., the first segment 3000 a and the third segment 3000b), whereas other sterile drape segments could include flat structuresthat are folded over and sealed together (e.g., the second segment 3000b could include a flat segment that with opposing ends that are sealedaround the Y-shaped junction between opposing members of the robotic arm13120).

In other aspects, the sterile barrier 3000 can include segments havingelastic sleeves at their the open ends, which enable a tight fit aroundthe robotic arm 13120 in the regions where the sterile drape segmentsoverlap and allow for attachment to hard plastic barrier component. Thehard plastic barrier component(s) could include a circular groove thatcould serve as an attachment point for the elastic sleeve portion andwould prevent slippage of the elastic sleeve with respect thereto. Instill other aspects, the sterile barrier 3000 can include segmentshaving accordion-like folds at joint and elbow locations, which canprovide flexibility to the sterile drape 3000 without stretching orpotentially damaging the sterile drape 3000.

In one aspect, one or more sterile drape modules can be detachablyconnected to the sterile drape 3000 for supplementing or augmenting thesterile drape 3000. For example, FIGS. 39A and 39C illustrate a module3054 including a blower 3056 that is configured to transport air from afirst location (e.g., within the sterile barrier 3000) to a secondlocation via an outlet 3058. The module 3054 can be configured tofacilitate air movement through the sterile barrier 3000 for cooling ofthe robotic surgical assembly, for example.

The sterile barrier 3000 can include a variety of different modules andattachment points for facilitating the attachment of devices thereto.For example, in one aspect illustrated in FIG. 40, the sterile drape43704 may be provided between a patient side cart (not shown),particularly over the manipulator arms 43140, and the surgicalinstrument (not shown) in order to create a sterile boundary between thesterile field, which may include a sterile adapter 43700 of theactuation interface assembly 43706 to which a sterile surgicalinstrument is attached, and the non-sterile patient side cart. Thesterile adapter 43700 of the sterile drape 43704 can include actuationinterface assemblies 43706 that are configured to engage withtransmission mechanisms provided at a proximal end of the surgicalinstruments. The surgical instrument and the actuation interfaceassembly 43706 may be mechanically and electrically connected to be ableto operate the instrument.

In one aspect illustrated in FIGS. 41A-41D, multiple sterile drapes 3000can be provided as a set that are detachably connected to each other attheir proximal ends 3066 via, for example, perforated edges, zipfasteners, and other connectors or lines of connection. Accordingly,users can deploy a sterile drape 3000 on a robotic arm 13120 by drawingone of sterile drapes 3000 from the set over the robotic arm 13120 andthen detaching the deployed sterile drape 3000 from the remainingmembers of the set, as is shown in FIGS. 41B-41D. The sterile drape 3000can further include a rip cord 3060 coupled to a line of connection 3062extending longitudinally along the sterile drape 3000. The rip cord 3060can be configured to release the line of connection 3062 (as shown inFIG. 41B), opening the sterile drape 3000 lengthwise and therebyallowing the sterile drape 3000 to be released from the robotic arm13120 on which it is deployed (as shown in FIG. 41C) in a convenientmanner. Thereafter, a replacement sterile drape 3000 can be deployedalong the robotic arm 13120 (as shown in FIG. 41D).

In one aspect illustrated in FIGS. 42A-42C, the sterile drape 3000 canbe deployable from a container 3064 or cartridge that is positionable atthe base of the robotic arm 13120 or is integral to the robotic arm13120. In this aspect, the container 3064 can house a set of steriledrapes 3000 that are detachably connected to each other at theirproximal ends 3066 via, for example, perforated edges, zip fasteners, arip cord (such as the rip cord 3060 described above), and otherconnectors or lines of connection. Accordingly, users can replace asterile drape 3000 deployed on a robotic arm 13120 by withdrawing a newsterile drape 3000 from the container 3064 after or as the currentlydeployed sterile drape 3000 is removed, as is shown in FIGS. 42B and42C. The sterile drape 3000 can further include a rip cord 3060, asdescribed above in connection with FIGS. 41A-41D.

In one aspect illustrated in FIGS. 43A and 43B, the sterile drape 3000 askeleton 3068 configured to structurally reinforce the sterile drape3000. The skeleton 3068 can include structures that are positioned alongan interior surface, along an exterior surface, and/or positionedbetween layers of the sterile drape 3000. In the illustrated aspect, theskeleton 3068 includes a rigid or semi-rigid helical structure orientedcoaxially with the sterile drape 3000. The helical structure can becircular, ellipsoidal, rectangular, or any other shape in cross-sectionthat conforms to the profile of the robotic arm 13120 with which thesterile drape 3000 is to be utilized. The skeleton 3068 can bebeneficial in order to, for example, make the sterile drape 3000 easierto snake around joints than sterile drapes 3000 lacking the skeleton3068. Further, in aspects where the skeleton 3068 is utilized inconjunction with a segmented sterile barrier (e.g., such as the sterilebarrier 3000 illustrated in FIG. 39A), the shape, structure, and/orconfiguration of the skeleton 3068 can be customized for the particularsection of the robotic arm 13120 and/or robotic surgical assembly 40100over which that section is to be deployed.

In one aspect illustrated in FIG. 44, the sterile barrier 3000 caninclude one or more joint sections 3070. The joint sections 3070 can beconstructed from a material, have a particular arrangement or structure,or otherwise be configured to promote bending of the sterile drape 3000at their locations as compared to the remaining portions of the steriledrape 3000. For example, the joint sections 3070 can define gaps or alack of the presence of a skeleton 3068. Further, the joint sections3070 can be positioned at regular or irregular intervals along thelength of the sterile drape 3000, for example. In one aspect, the jointsections 3070 can be positioned at locations corresponding to thelocations of the joints of the robotic arm 13120 for which the steriledrape 3000 is intended to be utilized, thereby allowing the steriledrape 3000 to closely conform to the arrangement of the arm sections ofthe robotic arm 13120.

In one aspect illustrated in FIGS. 45A and 45B, the sterile barrier 3000can be configured to indicate when a liquid 3076 (e.g., body fluid) hasbreached the sterile barrier 3000. In the illustrated example, thesterile barrier 3000 includes a first or exterior layer 3072 and asecond or interior layer 3074. The exterior layer 3072 can include aclear or translucent material. The interior layer 3074 can be configuredto change color upon contact with moisture. For example, the interiorlayer 3074 can include a moisture-detecting dye. Accordingly, when abreach 3078 has formed in at least the exterior layer 3072 and liquid3076 has come in contact with the interior layer 3074, the portions 3080of the interior layer 3074 coming in contact with the liquid 3076 areconfigured to change color. Therefore, the sterile barrier 3000 createsa visual indication 3082 that the sterile barrier 3000 has been breachedand potentially contaminated by a liquid 3076 so that users can takecorrective action (e.g., sealing the breach or having the robotic arm13120 and/or other components of the robotic surgical system 13000cleaned).

In one aspect illustrated in FIGS. 46A-46D, the sterile barrier 3000 canbe configured to visually indicate when a breach 3088 has occurred inthe sterile barrier 3000 or the surface of the sterile barrier 3000 hasotherwise been physically disturbed. In the illustrated example, thesterile barrier 3000 includes a plurality of air- or fluid-filledpockets 3084 positioned along a surface 3086 of the sterile barrier3000. The pockets 3084 can include, for example, regularly spaced,protruding, air-filled hemispheres. Accordingly, when a breach 3088 hasformed in the sterile barrier 3000, the pockets 3084 deflate or collapseand thereby create a visual indication that the sterile barrier 300 hasbeen breached so that users can take corrective action.

In one aspect illustrated in FIGS. 47A-47C, the sterile barrier 3000 canbe configured to be pressurized or inflated from an air source 3090 inorder to indicate when a breach 3091 has occurred in the sterile barrier3000. In the illustrated example, the sterile barrier 3000 can beconfigured to be airtight (or substantially airtight) when deployed on arobotic arm 13120 and can be pressurized via an air source 3090 that isfluidically couplable to the sterile barrier 3000. In various aspects,the air source 3090, sterile barrier 3000, robotic arm 13120, and/oranother component of the robotic surgical system 13000 can include anair pressure sensor for sensing the internal air pressure of the sterilebarrier 3000. Accordingly, when a breach 3091 has formed in the sterilebarrier 3000, the sterile barrier 3000 can be depressurized and at leastpartially deflate, as illustrated in FIG. 47B. The robotic surgicalsystem 13000 can be configured to sense this depressurization based onthe sensed air pressure profile of the sterile barrier. In one aspect,the control device 13004 (FIG. 4) can be communicably connected to theair pressure sensor for receiving air pressure data therefrom. Forexample, FIG. 47C illustrates a prophetic graph 3092 where the verticalaxis 3094 represents air pressure and the horizontal axis 3096represents time. A first line 3098 indicates a surgical procedure wherethe sterile barrier 3000 was inflated from an initial pressure P₁ untilit reached an operating pressure P₂ at t₁. As can be seen, the firstline 3098 maintains a flat profile until the sterile barrier 3000 beginsbeing deflated at t₂ (which can represent the completion of the surgicalprocedure, for example). Therefore, it can be determined that thesterile barrier 3000 did not suffer a breach during the surgicalprocedure. Conversely, a second line 3100 indicates a surgical procedurewhere the sterile barrier 3000 was inflated to an operating pressure P₂,but then suffered a breach at a point after t₁, resulting in the airpressure of the sterile barrier 3000 decreasing prematurely. Therefore,it can be determined that the sterile barrier 3000 did suffer a breach3091 during the surgical procedure. In this way, monitoring the internalair pressure of a pressurized sterile barrier 3000 can be utilized tomonitor for breaches 3091. Once a breach 3091 has been detected, therobotic surgical system 13000 (or a control device 13004 thereof) can beconfigured to provide a notification to the users (e.g., via a displaydevice 13006 (FIG. 4)) or take some other corrective action (e.g.,increase the air-flow rate provided by the air source 3090 to attempt tocompensate for the breach 3091).

In one aspect illustrated in FIGS. 48A-48D, the sterile barrier 3000 canbe configured to indicate whether a threshold temperature was reached orexceeded. In the illustrated example, the sterile barrier 3000 includesa first or exterior layer 3102 and a second or interior layer 3104. Theexterior layer 3102 can include a clear or translucent material. Theinterior layer 3104 can be configured to change color upon reaching orexceeding a threshold temperature T_(max). For example, the interiorlayer 3074 can include a thermosensitive or thermochromic dye that isconfigured to change color upon reaching the threshold temperatureT_(max). The thermochromic dye can be applied to the interior layer 3074in the form of microcapsules, for example. In one aspect, thethermosensitive dye can be configured to permanently change color uponreaching the threshold temperature T_(max) to visually alert users as towhether the sterile shield 3000 has ever been exposed to a temperaturereaching the threshold temperature T_(max). For example, FIG. 48Dillustrates a prophetic graph 9106 where the vertical axis 3108represents the temperature experienced by the sterile barrier 3000 andthe horizontal axis 3110 represents time. A line 3112 indicates thetemperature experienced by the sterile barrier 3000 during the course ofa particular surgical procedure. At time t₁ the temperature reaches orexceeds the temperature threshold T_(max), thereby causing the sterilebarrier 3000 to transition from a first color (or translucent), as shownin FIG. 48B, to a second color, as shown in FIG. 48C. The color changecan visually indicate that the sterile barrier 3000 has been exposed totemperatures outside of its acceptable operating range so that userscan, for example, take corrective action.

In one aspect illustrated in FIGS. 49A-48C, the sterile barrier 3000 canbe configured to self-heal breaches 3120. In the illustrated example,the sterile barrier 3000 includes a first or interior layer 3114, athird or exterior layer 3118, and a second layer 3116 sandwiched betweenthe first and third layers 3114, 3118. The second layer 3116 can includea material that is configured to heal breaches 3120, such as a liquid orgel polymer that is configured to crosslink and solidify when exposed toair. Accordingly, when a breach 3120 has formed in at least one of thefirst or second layers 3114, 3118 of the sterile barrier 3000 (as shownin FIG. 49B), the material from the second layer 3116 advances into thespace opened by the breach 3120, at which point it is exposed to air andforms a plug 3122 and thereby heals the breach 3120 (as shown in FIG.49C). It can be useful for sterile barriers 3000 to include some type ofself-healing mechanism in order to prevent or mitigate contamination ofcomponents enshrouded by the sterile barrier 3000 when a breach 3120 hasoccurred.

In one aspect illustrated in FIG. 50, the sterile barrier 3000 can beconfigured to visually indicate when a breach 3126 has occurred in thesterile barrier 3000. In the illustrated example, the sterile barrier3000 can include a first or exterior layer 3123 that is a first colorand a second or interior layer 3124 that is a second color. The exteriorlayer 3123 can additionally be constructed from an opaque material suchthat the interior layer 3124 is not visible unless a breach 3126 isformed in the exterior layer 3123. Accordingly, when the sterile barrier3000 suffers a breach 3126, the interior layer 3124, which is adifferent color from the exterior layer 3123, is revealed, visuallyindicating the presence of the breach 3126. In one aspect, the color ofthe interior layer 3124 can be selected such that it highly contrasts oris especially visible against the color of the exterior layer 3123.

Robotic Surgical Attachment Assemblies

Turning now to FIGS. 51-53, the robotic surgical assembly 43600 of therobotic surgical system 13000 (FIG. 4) includes an instrument drive unitor housing 43610 supporting a motor assembly or motor pack 43050, asdescribed above under the heading ROBOTIC SURGICAL ASSEMBLY. The housing43610 of the robotic surgical assembly 43600 includes a connectorassembly 43540.

A collar assembly or sterile interface module 43630 is provided forselectively interconnecting the robotic surgical assembly 43600 and anelectromechanical surgical instruments 43250. In general, the sterileinterface module 43630 functions to provide an interface between theinstrument drive unit or housing 43610 and an electromechanical surgicalinstrument 43250. This sterile interface module 43250 advantageouslymaintains sterility, provides a means to transmit electricalcommunication between the robotic surgical assembly 43600 and theelectromechanical surgical instrument 43250, provides a means fortransferring rotational force from the robotic surgical assembly 43600to the electromechanical surgical instrument 43250 for performing afunction with the electromechanical surgical instrument 43250, and/orprovides a means to selectively attach/remove the electromechanicalsurgical instrument 43250 to the robotic surgical assembly 43600 (e.g.,for rapid instrument exchange).

The collar assembly or sterile interface module 43630 includeselectrical connectors 43532 a, 43532 b and an electrical ribbon 43534coupled between the electrical connectors 43532 a, 43532 b to provideelectrical communication between the robotic surgical assembly 43600 andany electromechanical surgical instrument, such as electromechanicalsurgical instrument 43250, coupled thereto.

Ring member 43550 is configured for rotatable attachment to a distal endof the connector assembly 43640 (e.g., via snap fit) of the IDU orhousing 43610. The sterile drape 43552 can be arranged as desired aboutthe housing 43610, the robotic surgical assembly 43600 and the roboticarms 13002, 13003 (FIG. 4) to provide a sterile barrier between thevarious aforementioned components and/or the surgical site/fluids andthe electromechanical surgical instruments 43250, as is described above.

The first and second drive transfer assemblies 43668, 43670 of thesterile interface module 43630 include respective drive couplers 43668a, 43670 a defining coupling ends 43668 b, 43670 b engagable withcoupling ends 41052 c, 41054 c, 41056 c, 41058 c (FIG. 27) of respectivemotor couplers 41052 b, 41054 b, 41056 b, 41058 b (FIG. 27) of the motorassembly 41114 (FIG. 26) supported within the housing 43610. The firstand second drive transfer assemblies 43668, 43670 further includetransfer shafts (not shown) that extend to a respective instrumentengagement end (e.g., a gear or the like with distally extending teeth)at a distal end thereof for transmitting drive motions from the motorassembly 41114 to the electromechanical surgical instrument 43250 fordriving various functions thereof.

Additional detail regarding coupling arrangements for robotic surgicalassemblies and/or IDUs can be found in U.S. International PatentApplication No. PCT/US2017/033899, published as WO2017205308A1, titledROBOTIC SURGICAL ASSEMBLIES, which is incorporated by reference hereinin its entirety.

As can be seen, the surgical system 13000 includes a number of differentconnection points between components of the robotic surgical assembly43600 and between the electromechanical surgical instrument 43250 andthe robotic surgical assembly 43600. If any one of these components isnot fully connected or seated to the corresponding component orcomponents to which it is connectable, such incomplete connections cancause failures of the surgical system 13000 and unsafe operationalconditions. Therefore, it can be desirable for various attachmentassemblies of the robotic surgical assembly 43600 to promote connectionsbetween the components, only permit activation of the robotic arm 13120or other powered components of the surgical system 13000 until all ofthe components are properly connected together, and otherwise ensurethat each of the components and/or the electromechanical surgicalinstrument 43250 are fully connected together.

In one aspect, the various components of the robotic surgical assembly43600 and/or surgical instrument 43250 can include connectors biased toresist connection between the corresponding connectable components(i.e., driving the components apart) up to a point at which the biasreverses, biasing the components into complete coupling between eachother. For example, the aspect illustrated in FIGS. 54A-54D demonstratesa biased coupling arrangement between the sterile interface module 43630and the surgical instrument 43250. In this example, the sterileinterface module 43630 includes a ramped surface 2300 that isdimensioned to receive a corresponding ramped surface 2302 of thesurgical instrument 43250. Further, the module ramped surface 2300includes a biasing element 3204 and the instrument ramped surface 3202includes a corresponding recess 3206 that is configured to receive andretain the biasing element 3204 therein when the surgical instrument43250 is fully seated to the sterile interface module 43630. It shouldbe noted that in other aspects, the positions of the biasing element3204 and the recess 3206 can be interchanged with each other.Accordingly, as the instrument ramped surface 3202 begins to be slidinto position relative to the module ramped surface 3200 (as shown inFIG. 54B), the biasing element 3204 is configured to bear against aportion of the instrument ramped surface 3202 and provide a physicalresistance to the continued insertion of the instrument ramped surface3202 (as shown in FIG. 54C). However, as the biasing element 3204 givesway under an increased load from the insertion of the instrument rampedsurface 3202, the instrument ramped surface 3202 reaches a point atwhich it can be slid further past the module ramped surface 3200 withoutrestriction from the biasing element 3204. At that point, the biasingelement 3204 snaps into engagement with the recess 3206 and therebysecurely holds the surgical instrument 43250 in firm engagement with thesterile interface module 43630 (as shown in FIG. 54D). In one aspect,the position at which the biasing element 3204 securely engages therecess 3206 of the surgical instrument 43250 can correspond to theposition at which the module electrical contacts 3210 are aligned andcommunicatively coupled to the corresponding instrument electricalcontacts 3212 to ensure proper data and signal transmission between thesterile interface module 43630 and the surgical instrument 43250. Itshould be noted that although this example depicts a biased couplingarrangement between the sterile interface module 43630 and the surgicalinstrument 43250, this example was simply for illustrative purposes andthe above concepts apply equally to coupling arrangements between anyother components of the robotic surgical assembly 43600.

In one aspect, the various components of the robotic surgical assembly43600 and/or surgical instrument 43250 can include connectors havingelectronic or electrical lockouts for detecting when components arefully connected together. For example, the aspect illustrated in FIGS.55A-55C demonstrates a biased coupling arrangement between the sterileinterface module 43630 and the surgical instrument 43250. In thisexample, the surgical instrument 43250 includes a first electricalcontact 3214 disposed at its module engagement end and the sterileinterface module 43630 includes a second electrode contact 3216positioned such that it physically contacts the first electrical contact3214 only when the surgical instrument 43250 is fully seated to thesterile interface module 43630. In one aspect, one or more of theelectrical contacts 3214, 3216 can be biased to make contact with theopposing electrical contact 3214, 3216. In another aspect, theelectrical contacts 3214, 3216 can be oriented such that they are thelast electrical connection that is made between the components beingcoupled together (in this case, the sterile interface module 43630 andthe surgical instrument 43250) during the attachment process. Therefore,as soon as the electrical circuit between the electrical contacts 3214,3216 is completed, the robotic surgical system 13000 can be assured thatthe surgical instrument 43250 is fully seated on the sterile interfacemodule 43630. In one aspect, an ID chip or control circuit of thesurgical instrument 43250 can be powered on by the contact between theelectrical contacts 3214, 3216 and the control device 13004 of therobotic surgical system 13000 can be configured to transmit a query forresponse by the ID chip. Accordingly, once the control device 13004receives a response to its query, the control device 13004 can beassured that the surgical instrument 43250 is fully seated on thesterile interface module 43630. The control device 13004 can thereafterpermit the robotic surgical system 13000 to be fully activated oroperated. In another aspect, the surgical instrument 43250 can include acontrol program and/or set of parameters defining how the surgicalinstrument 43250 is to be operated by the robotic surgical system 13000.The control program and/or set of parameters can be required foroperation of the surgical instrument 43250, for example. Sincetransmission of the control program and/or set of parameters is/arerequired to operate the surgical instrument 43250 in this example, thecontrol device 13004 can therefore prevent the surgical system 13000from being activated or operated until the electrical circuit betweenthe electrical contacts 3214, 3216 is completed. Once the controlprogram and/or set of parameters is/are received, then the controldevice 13004 can customize the motor controllers for the surgicalinstrument 43250 as dictated by the control program and/or set ofparameters and then permit the activation or operation of the roboticsurgical system 13000. It should be noted that although this exampledepicts a lockout coupling arrangement between the sterile interfacemodule 43630 and the surgical instrument 43250, this example was simplyfor illustrative purposes and the above concepts apply equally tocoupling arrangements between any other components of the roboticsurgical assembly 43600.

A control circuit, such as the processor 15004 of the robotic surgicalsystem 15000 illustrated in FIG. 22, can be configured to monitor anattachment assembly, such as the attachment assembly illustrated inFIGS. 55A-55C, for connecting two modules and control power to therobotic arm 13120 accordingly. The modules monitored by the controlcircuit can include any combination of components of the surgicalrobotic assembly 43600 and/or a surgical instrument 43250. For example,the processor 15004 can be configured to execute the process 3218illustrated in FIG. 56. The process 3218 can be embodied as, forexample, instructions stored in a memory 15006 coupled to the processor15004 that, when executed by the processor 15004, cause the roboticsurgical system 15000 to perform the process 3218.

Accordingly, the processor 15004 executing the process 3218 candetermine whether alignment of the electrical contact(s) has beencompleted. For example, the processor 15004 can determine whether acircuit has been completed by opposing electrical contacts 3214, 3216 orwhether a module (e.g., a surgical instrument 43250) is responsive to aquery generated by the processor 15004, as described above. If theelectrical contacts have not been aligned, then the process 3218proceeds along the NO branch and the processor 15004 determines 3222that the module is not fully seated and then continues monitoring foralignment of the electrical contacts. If the electrical contacts havebeen aligned, then the process 3218 proceeds along the YES branch andthe processor 15004 determines 3224 that the module is fully seated.Accordingly, the processor 15004 then administers power 3226 to therobotic arm 13120 or otherwise permits the robotic arm 13120 to beoperated by a user.

Robotic Surgical Detection Assemblies

As noted above with respect to FIGS. 51-53, the robotic surgical system13000 includes a number of different connection points betweencomponents of the robotic surgical assembly 43600 and between theelectromechanical surgical instrument 43250 and the robotic surgicalassembly 43600. Each of these connection points represents a potentialfailure point if a component of the robotic surgical system 13000 or thesurgical instrument 43250 is improperly connected or misaligned.Improperly connected or misaligned components can cause failures of thesurgical system 13000 and unsafe operational conditions. Therefore, itcan be desirable for the robotic surgical system 13000 to includedetection systems to ensure proper connections and alignment ofcomponents. In response to detecting an improper or misalignedconnection, the robotic surgical system 13000 can take various actions,including providing alerts or prompts to users or preventing the roboticsurgical system 13000 (or components thereof) from being activated untilall components or the relevant components of the robotic surgical system13000 are properly connected together. For example, the robotic surgicalsystem 13000 can prevent the motor pack 40050 from activating until theelectromechanical surgical instrument 43250 is properly connected to therobotic surgical assembly 43600. The robotic surgical system 13000 can,in various aspects, be configured to detect coupling betweencorresponding components based upon detecting the presence of thecomponents with respect to each other, detecting an actual couplingbetween components (e.g., via a continuity circuit, as described below),or a combination thereof. In one aspect, the robotic surgical system13000 can control the components and/or provide alerts based on thedetection of proper coupling between the components and knowledge of atleast one more piece of information, such as firing status, cartridgeauthentication, cartridge identification, analysis for suitability ofcartridge selection (e.g., based on situational awareness, as isdescribed above), and so on.

In one aspect, the various components of the robotic surgical assembly43600 and/or surgical instrument 43250 can include sensors configured todetect proximity and physical mating between corresponding componentsthereof. For example, in the aspect illustrated in FIGS. 57A and 57B,the sterile shell or barrier 40060 can include a sensor assemblyconfigured to detect whether a corresponding detection element is withina threshold proximity to the sensor assembly (or a particular sensorthereof). In the illustrated aspect, the sterile shell 40060 comprises aset of four sensors 3230 a, 3230 b, 3230 c, 3230 d. This aspect furtherincludes a corresponding detection element assembly that is configuredto be detected by the sensor assembly. In the illustrated aspect, theIDU 43610 includes a first detection element 3228 a, the ring member43550 includes a second detection element 3228 b, the sterile interfacemodule 43630 includes a third detection element 3228 c, and the surgicalinstrument 43250 includes a fourth detection element 3228 d disposedthereon. The first sensor 3230 a is configured to detect the firstdetection element 3228 a, the second sensor 3230 b is configured todetect the second detection element 3228 b, and so on. It should beunderstood that the sensor assembly is not limited to this particularnumber and arrangement of the sensors 3230 a, 3230 b, 3230 c, 3230 dand/or detection elements 3228 a, 3228 b, 3228 c, 3228 d as this aspectis simply for purposes of illustrating the concepts discussed herein.The sensors 3230 a, 3230 b, 3230 c, 3230 d can include any type ofsensor configured to detect the presence of a corresponding detectionelement within a threshold proximity thereof. For example, the sensors3230 a, 3230 b, 3230 c, 3230 d can include Hall effect sensors and thedetection elements 3228 a, 3228 b, 3228 c, 3228 d can include magnets.As another example, the sensors 3230 a, 3230 b, 3230 c, 3230 d caninclude RFID readers and the detection elements 3228 a, 3228 b, 3228 c,3228 d can include (passive or active) RFID tags. In certain examples,the sensors may comprise proximity sensors (e.g., ultrasonic, IR,inductive, capacitive, photoelectric, hall effect senor, etc.). Incertain examples the sensors comprise pressure sensors such as, forexample, piezoresistive, capacitive, strain gauges, or any othersuitable sensor type, including combinations thereof.

Further, the components of the robotic surgical assembly 43600 and/orsurgical instrument 43250 can include corresponding sets of electricalcontacts 3231 a-3231 h are properly paired that are configured to detectproper mating and alignment between the components described above inconnection with FIGS. 55A-55C. As illustrated in FIG. 57B, for example,proper pairing is achieved between the electrical contacts 3231 a, 3231b, between the electrical contacts 3231 c, 3231 d, and between theelectrical contacts 3231 e, 3231 f, but not the electrical contacts 3231g, 3231 h. In various aspects, proper pairing, or lack of properpairing, between corresponding ones of the electrical contacts 3231a-3231 h can be detected by applying a voltage to electrical circuitsthat are formed by proper pairing of the electrical contacts 3231 a-3231h, and detecting current through the electrical circuits. Other suitabletechniques for detecting proper pairing of the electrical contacts 3231a-3231 h are contemplated by the present disclosure.

In one aspect, the interfaces between the surgical instrument 43250and/or the robotic surgical assembly 40100 can be temperature-dependent.For example, the electrical contacts 3231 a-3231 h can includeconductive rings disposed on the surgical instrument 43250 and/or thecomponents of the robotic surgical assembly 40100. The conductive ringscan be separated by a gap, but electrically coupled with a shape memoryalloy that is configured to operate within a certain operatingtemperature, for example. If the component on which the conductive ringsare disposed is heated beyond the operating temperature of the shapememory alloy, the shape memory alloy changes shape, thereby breaking theelectrical coupling between the components and disengaging thecomponents from each other.

In one aspect, the electrical contacts 3231 a-3231 h can include aseries of springs configured to contact the corresponding components ofthe robotic surgical assembly 40100 and/or the surgical instrument 43250and inductance can be measured on the springs to determine propercoupling of the components. In particular, when the components areproperly coupled, the components can compresses the springs, therebychanging the inductance, which can be measured by a control circuitcoupled to the electrical contacts 3231 a-3231 h. Accordingly, thecontrol circuit can compare the change in inductance between the varioussprings of the electrical contacts 3231 a-3231 h and then control couldvarious components of the robotic surgical system 13000 based on whetheran inductance change for a spring or set of springs differs from theaverage of the springs and/or a baseline or threshold change in value.For example, the control circuit could determine or measure theinductance associated with a given spring for an electrical contact,compare the determined inductance to a threshold, and then enable ordisable the motor pack 40050 according to the comparison between thedetermined inductance and the threshold. In this way, the springs couldserve as switches to enable or disable the motor pack 40050.

A control circuit, such as the processor 15004 of the robotic surgicalsystem 15000 illustrated in FIG. 22, can be configured to monitor adetection assembly, such as the detection assembly illustrated in FIGS.57A and 57B. For example, the processor 15004 can be communicativelycoupled to the sensors 3230 a, 3230 b, 3230 c, 3230 d described above.The modules monitored by the control circuit can include any combinationof components of the surgical robotic assembly 43600 and/or a surgicalinstrument 43250. For example, the processor 15004 can be configured toexecute the process 3232 illustrated in FIG. 58. The process 3232 can beembodied as, for example, instructions stored in a memory 15006 coupledto the processor 15004 that, when executed by the processor 15004, causethe robotic surgical system 15000 to perform the process 3232.

Accordingly, the processor 15004 executing the process 3232 candetermine 3234 whether mating components (e.g., the IDU 43610, ringmember 43550, sterile interface module 43630, or surgical instrument43250) are within a sensed proximity to one another based on signalsfrom the sensors 3230 a, 3230 b, 3230 c, 3230 d. If proximity of matingcomponents is not sensed, then the process 3232 proceeds along the NObranch and the processor 15004 causes 3236 a display (e.g., a surgeonconsole's display 15014 (FIG. 22)) to display that the component ismissing and/or instructions for assembling the robotic surgical system13000.

If proximity of mating components is sensed, then the process 3232proceeds along the YES branch and the processor 15004 determines 3238whether an electrical connection is detected by determining whetherelectrical connections 3231 a-3231 h are properly paired. The processor15004 can make this determination via the attachment assembly describedin FIGS. 55A-55C, for example. If an electrical connection is notdetect, but proximity of mating components is sensed, the processconcludes that the components are improperly connected, and the process3232 proceeds along the NO branch causing 3240 a display to alert a userthat the component is incorrectly coupled and/or instructions forunlocking and reassembling the components. If an electrical connectionis detected, then the process 3232 proceeds along the YES branch and theprocessor 15004 receives 3242 the serial number and/or operationalparameters from the surgical instrument 43250 for the operation of thesurgical instrument 43250 by the surgical system 13000.

In one aspect, various components of the robotic surgical assembly 43600and/or surgical instrument 43250 can include a continuity circuit todetermine when the components of the robotic surgical assembly 43600and/or surgical instrument 43250 are coupled together. For example, theaspect of the robotic surgical assembly 40100 illustrated in FIG. 59includes a continuity circuit assembly configured to detect when thecarriage shell 40060 is seated to the carriage 40042, the ring connector40171 (or another component of the sterile barrier collar assembly 40170illustrated in FIG. 23 or the collar assembly 43630 illustrated in FIGS.51-53) is seated to the carriage shell 40060, the sterile barrierhousing 40130 is seated to the ring connector 40171, and the cap 40134of the sterile barrier housing 40130 is closed.

In the example illustrated in FIG. 59, the carriage 40042 includes afirst continuity circuit portion 3250; the carriage shell 40060 includessecond, third, and fourth continuity circuit portions 3252, 3254, 3256;the ring connector 40171 includes a fifth continuity circuit portion3258; and the sterile barrier housing 40130 includes sixth, seventh,eighth, and ninth continuity circuit portions 3260, 3262, 3264, 3266.The second, third, and fourth continuity circuit portions 3252, 3254,3256 of the carriage shell 40060 are electrically coupled together. Inone aspect, the second, third, and fourth continuity circuit portions3252, 3254, 3256 can be different portions of a single continuitycircuit extending through the carriage shell 40060. Likewise, the sixth,seventh, and eighth continuity circuit portions 3260, 3262, 3264 of thesterile barrier housing 40130 are electrically coupled together. In oneaspect, the sixth, seventh, and eighth continuity circuit portions 3260,3262, 3264 can be different portions of a single continuity circuitextending through the sterile barrier housing 40130.

The first continuity circuit portion 3250 is positioned to contact andelectrically connect to the second continuity circuit portion 3252disposed on the carriage shell 40060 when the carriage shell 40060 isseated on the carriage 40042. The third continuity circuit portion 3254is positioned to contact and electrically connect to the fifthcontinuity circuit portion 3258 disposed on the ring connect 40171 whenthe ring connect 40171 is seated on the carriage shell 40060. The fourthcontinuity circuit portion 3256 is positioned to contact andelectrically connect to the seventh continuity circuit portion 3262disposed on the sterile barrier housing 40130 when the sterile barrierhousing 40130 is seated on the carriage shell 40060. The fifthcontinuity circuit portion 3258 is positioned to contact andelectrically connect to the sixth continuity circuit portion 3260disposed on the sterile barrier housing 40130 when the sterile barrierhousing 40130 is seated on the ring connector 40171. The eighthcontinuity circuit portion 3264 is positioned to contact andelectrically connect to a ninth continuity circuit portion 3266 disposedon the cap 40134 of the sterile barrier housing 40130 when the cap 40134is in the closed position. Accordingly, when each of the illustratedcomponents of the robotic surgical assembly 40100 are properly seatedtogether and the cap 40134 of the sterile barrier housing 40130 is inthe closed position, the various circuit portions form a continuouselectrical connection.

Accordingly, in one aspect, a control circuit coupled to the illustratedcontinuity circuit assembly can be configured to transmit a signalthrough the continuity circuit assembly at a first point and thencontrol the robotic surgical system 15000 according to whether thesignal is received at a second point. If the control circuit does notreceive the input signal, that would indicate that one or morecomponents of the robotic surgical assembly 40100 are not properlyseated to each other and/or that the cap 40134 of the sterile barrierhousing 40130 is open. If the control circuit does receive the inputsignal, that would indicate that all of the components of the roboticsurgical assembly 40100 are properly connected and the cap 40134 isclosed. In another aspect, the control circuit can be configured toapply a voltage to the continuity circuit assembly and determine whetherthe continuity circuit assembly is an open circuit or a closed circuit.An open circuit would indicate that one or more components of therobotic surgical assembly 40100 are not properly seated to each otherand/or that the cap 40134 of the sterile barrier housing 40130 is open.A closed circuit would indicate that all of the components of therobotic surgical assembly 40100 are properly connected and the cap 40134is closed. The control circuit can then control the robotic surgicalsystem 15000 according to the engagement status between the componentsof the robotic surgical assembly 40100. For example, the control circuitcould prevent the robotic arm to which the robotic surgical assembly40100 is coupled from activating or moving unless it determines that allof the components of the robotic surgical assembly 40100 are properlyconnected together.

In various examples, each of the continuity circuit portions describedabove comprises a unique resistive element with a different resistance,which can be connected in parallel or in series circuit. The resistiveelements are configured to form a part of the continuity circuit onlywhen their respective components of the robotic surgical assembly 40100are properly connected. Accordingly, the resistive elements form aseries of interruptible interconnections that provide a differentdetected value depending on which portion of the series is interrupted.A control circuit can determine which control circuit portion isinterrupted based on the detected value. In at least one example, thedetected value can be a current value. A predetermined voltage can beapplied to the continuity circuit, and a current value can be measuredto determine which, if any, of the components of the robotic surgicalassembly 40100 is not properly connected thereby causing its controlcircuit portion to be interrupted.

In various examples, the continuity circuit portions are interruptedwhen their respective components of the robotic surgical assembly 40100are properly connected. In other examples, the continuity circuitportions are interrupted when their respective components of the roboticsurgical assembly 40100 are improperly connected.

In one aspect, various components of the robotic surgical assembly 43600and/or surgical instrument 43250 can include one or more detectionelements that are detectable by a sensor assembly 3270 to determine thelocation and orientation of each component. For example, the aspect ofthe robotic surgical assembly 40100 illustrated in FIG. 60 includes afirst detection element 3274 disposed on the carriage 40042 (or thesterile shell thereof), a second detection element 3276 disposed on theIDU 40110 (e.g., the motor pack assembly), a third detection elementdisposed on the sterile barrier collar assembly 40170 (which can includethe collar assembly 40170 illustrated in FIG. 23 or the collar assembly43630 illustrated in FIGS. 51-53), and a set of detection elements 3280,3282, 3284 disposed on the surgical instrument 40200. In the particularexample shown in FIG. 60, the surgical instrument 40200 is a trocar3273. The same or different detection element assemblies or arrangementscan be utilized in connection with other trocars 3273 or differentsurgical instruments 40200. In particular, the trocar 3273 can include afourth detection element 3280 disposed adjacently to its proximalengagement end, a fifth detection element 3282 disposed at its collar atwhich it is gripped by the grasper 3272 of the robotic arm 13120, and asixth detection element 3284 likewise disposed at its collar. Further,in this aspect the sensor assembly 3270 is located on the robotic arm13120. The sensor assembly 3270 can include a set of sensors configuredto sense the detection elements disposed on the robotic surgicalassembly 43600 and/or surgical instrument 43250. In this particularaspect, the sensor assembly 3270 includes a first set of sensors 3270 a,3270 b that are configured to detect the detection elements 3274, 3276,3278 disposed on the robotic surgical assembly 40100 and a second set ofsensors 3271 a, 3271 b that are configured to detect the detectionelements 3280, 3282, 3284 disposed on the surgical instrument 40200. Thefirst set of sensors 3270 a, 3270 b can be positioned at or adjacentlyto the position on the robotic arm 13120 near which the carriage issecured 40042, for example. The second set of sensors 3271 a, 3271 b canbe positioned at or adjacently to the grasper 3272 for holding thesurgical instrument 40200, for example. The sensor assembly 3270 caninclude any type of sensor configured to detect the presence of acorresponding detection element within a threshold proximity thereof.For example, the sensors 3270 a, 3270 b, 3271 a, 3271 b can include RFIDreaders and the detection elements 3274, 3276, 3278, 3280, 3282, 3284can include (passive or active) RFID tags.

In certain examples, the sensors of the sensor assembly 3270 compriselimited detection ranges that are capable of detecting theircorresponding detection elements only when their respective componentsof the robotic surgical assembly 40100 are in properly assembled, or atleast partially assembled, configurations. In other words, placing thecomponents of the robotic surgical assembly 40100 in properly assembledconfigurations causes the detection elements of such components to be inthe detectable ranges of their corresponding sensors of the sensorassembly 3270. In certain examples, the signals from RFID tags aredetected by the RFID readers at predetermined signal strengths in theproperly assembled configurations of their respective components of therobotic surgical assembly 40100. Accordingly, a control circuit coupledto the RFID readers can assess proper assembly of the robotic surgicalassembly 40100 by comparing signal strength of the signals transmittedfrom the RFID tags to predetermined signal strengths associated withproperly assembled configurations of corresponding components of therobotic surgical assembly 40100.

Accordingly, the sensor assembly 3270 can detect the presence of each ofthe components of the robotic surgical assembly 40100 and the surgicalinstrument 40200 based on whether the corresponding detection element(s)for the component are within detection range of the sensor assembly3270. However, as is illustrated in FIGS. 61A-61C, the sensor assembly3270 can also detect the orientation or arrangement of the components ofthe robotic surgical assembly 40100 and the surgical instrument 40200based on the locations of the detection elements with respect to one ormore sensors within the sensor assembly 3270. For example, FIG. 61Aillustrates the trocar 3273 in a first orientation where the distancefrom the third sensor 3271 a and the fourth sensor 3271 b to the fifthdetection element 3282 is A₁ and B₁, respectively. Further, the distancefrom the third sensor 3271 a and the fourth sensor 3271 b to the sixthdetection element 3284 is C₁ and D₁, respectively. By comparing thevalues for A₁ and B₁, a control circuit coupled to the sensor assembly3270 can triangulate the location of the fifth detection element 3282and accordingly determine the orientation of the portion of the trocar3273 to which the fifth detection element 3282 is attached. Likewise, bycomparing the values for C₁ and D₁, a control circuit coupled to thesensor assembly 3270 can triangulate the location of the sixth detectionelement 3284 and accordingly determine the orientation of the portion ofthe trocar 3273 to which the sixth detection element 3284 is attached(which, in the illustrated aspect, is the insufflation port attachmentpoint). Therefore, the control circuit can determine that the trocar3273 is in the first orientation. Further, FIGS. 61B and 61C illustratethe trocar 3273 in a second orientation and third orientation,respectively, and the corresponding detectable distances between thesensors 3271 a, 3271 b and the detection elements 3282, 3284. Bydetecting the distances, the control circuit can differentiate betweenthese different orientations and thereby determine whether the trocar3273 is oriented correctly with respect to the robotic arm 13120.

The sensor assembly 3270 can be communicably coupled to a controlcircuit, such as the processor 15004 of the robotic surgical system15000 illustrated in FIG. 22, for receiving the sensor data from thesensor assembly 3270. The control circuit can monitor the presence andorientation of the components of the robotic surgical assembly 40100 andthe surgical instrument 40200 and control the robotic surgical system15000 accordingly, such as by providing warnings and/or instructions tothe users or only permitting the activation or operation of the roboticarm 13120 in the event that each of the components is connected andoriented correctly.

In one aspect, a surgical instrument 40200 (e.g., a trocar 3273) caninclude an electrical continuity circuit for detecting the orientationof the surgical instrument 40200. For example, the grasper 3272 of therobotic arm 13120 could include one or more sensors that senses contactwith the surgical instrument 40200. The grasper 3272 could seek toestablish electrical continuity from a first point on the surgicalinstrument 40200 to a second point on the surgical instrument 40200 viathe current passing from the grasper 3272, through the surgicalinstrument 40200, and then back to the grasper 3272. For example, in theaspect illustrated in FIGS. 62A and 62B, the grasper 3272 includes asensor 3290 configured to detect the presence of the trocar 3273 and apair of electrical contacts 3292 disposed at a first location and asecond location. The sensor 3290 can include an image sensor configuredto read a detection element (e.g., a barcode or QR code) disposed on thetrocar 3273 for identifying the trocar 3273, for example. Further, thetrocar 3273 can include an electrical contact 3296 that is sized anddimensioned to be contacted by both of the grasper electrical contacts3292 when trocar 3273 is oriented correctly within the grasper 3272 whengripped thereby. Accordingly, when the trocar 3273 is oriented correctlywithin the grasper 3272, the trocar electrical contact 3296 and thegrasper electrical contacts 3292 establish electrical continuity, whichcan be detected via a control circuit coupled thereto, for example. Whenthe trocar 3273 is not oriented correctly within the grasper 3272, atleast one of the grasper electrical contacts 3292 will not physicallycontact the trocar electrical contact 3296 and thus electricalcontinuity will not be established (which can likewise be detected viathe control circuit).

The sensor 3290 can be communicably coupled to a control circuit, suchas the processor 15004 of the robotic surgical system 15000 illustratedin FIG. 22, for receiving the sensor data from the sensor 3290 via,e.g., a first connection 3300. Likewise, the electrical contacts 3292can be coupled to the control circuit via, e.g., a second connection3298 for transmitting a signal therethrough. If the control signal canreceive the transmitted signal, then it can determine that there iselectrical continuity between the trocar electrical contact 3296 and thegrasper electrical contacts 3292 and that the trocar 3273 is thereforeoriented correctly within the grasper 3272. The control circuit canmonitor the presence and orientation of a surgical instrument 40200 (orany other components of the robotic surgical assembly 40100 that aregripped by a grasper 3272) and control the robotic surgical system 15000accordingly, such as by providing warnings and/or instructions to theusers or only permitting the activation or operation of the robotic arm13120 in the event that the surgical instrument 40200 is connected andoriented correctly.

In one aspect, a surgical instrument 40200 (e.g., a trocar 3273) caninclude detection elements 3304 that indicate the identity or type ofthe surgical instrument 40200. For example, in the aspect illustrated inFIG. 63A, the grasper 3272 can include a sensor 3302 that is configuredto sense the detection element 3304 disposed on the trocar 3273 when thetrocar 3273 is grasped by or within a proximity to the grasper 3272. Theparticular arrangement or type of the detection element 3304 can beconfigure to identify the type or identity of the trocar 3273. Further,the detection element 3304 can be positioned or configured such that itis only detectable by the sensor 3302 when the trocar 3273 is orientedcorrectly within the grasper 3272. In one aspect, the sensor 3302 caninclude a Hall effect sensor and the detection element 3304 can includeone or more magnets that create a magnetic signature detectable by theHall effect sensor, for example. In another aspect, the sensor 3302 caninclude an image sensor and the detection element 3304 can include a setof markings, barcode, or QR code that is visually distinguishable by theimage sensor. For example, FIG. 63B illustrates a detection element 3304in a first configuration, FIG. 63C illustrates a detection element 3304in a second configuration, and FIG. 63D illustrates a detection element3304 in a third configuration. The first configuration of the detectionelement 3304 can indicate that the trocar 3273 is an 8 mm trocar with astop cock, the second configuration of the detection element 3304 canindicate that the trocar 3273 is an 8 mm trocar without a stop cock, andthe third configuration of the detection element 3304 can indicate thatthe trocar 3273 is a 5 mm trocar without a stop cock, for example.Further, if the detection element 3304 is not detectable by the sensor3302, then that can indicate that an incompatible trocar 3273 is beingutilized or that the trocar 3273 is not oriented correctly within thegrasper 3272. Accordingly, a control circuit communicably coupled to thesensor 3302, such as the processor 15004 of the robotic surgical system15000 illustrated in FIG. 22, can monitor the presence of a surgicalinstrument 40200 (or any other components of the robotic surgicalassembly 40100 that are gripped by a grasper 3272) and control therobotic surgical system 15000 accordingly, such as by providing warningsand/or instructions to the users or only permitting the activation oroperation of the robotic arm 13120 in the event that the surgicalinstrument 40200 is connected and oriented correctly.

In various aspects discussed above and below, a control circuit can beconfigured to take various actions in response to detecting the presenceand orientation of a surgical instrument 40200 and/or components of arobotic surgical system 40100, such as providing instructions to usersor only permitting activation or operation of the robotic surgicalsystem 15000 when all components are properly connected together. Inanother aspect, a control circuit, such as the processor 15004 of therobotic surgical system 15000 illustrated in FIG. 22, can operate therobotic surgical system 15000 in different modes according to whether acompatible surgical instrument 40200 (e.g., a trocar) are connected tothe robotic surgical system 15000 by, for example, executing the process3310 illustrated in FIG. 64.

Accordingly, a processor 15004 executing the process 3310 can determine3312 that the robotic surgical system 15000 has been activated and thenenergize 3314 or operate the robotic surgical system 15000 in an initialor first operational mode. Accordingly, the processor 15004 candetermine 3316 whether a compatible surgical instrument 40200, such as atrocar, is seated within the robotic surgical system 15000. Theprocessor 15004 can make this determination by reading a barcode or QRcode via an image sensor as described in connection with FIGS. 62A and62B, identifying detection elements via a sensor as described inconnection with FIGS. 63A-63D, and so on, and then determining whetherthose elements correspond to a compatible surgical instrument 40200. Ifthe surgical instrument 40200 is compatible, then the process 3310proceeds along the YES branch and the processor 15004 energizes 3320 therobotic surgical system 15000 to a second operational mode. In thesecond operational mode, the processor 15004 can control the surgicalinstrument 40200 according to parameters (e.g., grip strength orexpected grip stroke) specific to the identified surgical instrument40200, for example. If the surgical instrument 40200 is not compatibleor the processor 15004 is not able to determine whether the surgicalinstrument is compatible 40200 (e.g., due to the instrument beingimproperly oriented with respect to the robotic arm 13120, causing thedetection elements to not be identifiable), then the process 3310proceeds along the NO branch and the processor 15004 alerts 3318 thesurgical staff to attach the surgical instrument 40200 or confirm thatthe surgical instrument 40200 is attached properly. The processor 15004can provide the alert via the surgeon console's display 15014, forexample. The processor 15004 can thereafter continue monitoring todetermine 3316 whether the surgical instrument 40200 is fully seated andrespond accordingly.

In addition to controlling the robotic surgical system 15000 accordingto the presence, position, orientation, and/or type of surgicalinstrument 40200 connected to the robotic surgical system 15000, therobotic surgical system 15000 could also be controlled according towhether a camera (i.e., a scope, such as an endoscope 239 as shown inFIG. 9) is engaged, what is being viewed by the camera, and/or imagequality of the video feed provided by the camera. Controlling therobotic surgical system 15000 according to the camera status can bebeneficial because insufficient visualization (i.e., no camera beingattached or the camera having poor image quality) is indicative ofsituations where it would be desirable to prevent surgical instruments40200 (or other components of the robotic surgical system 15000) frommoving inadvertently. For example, a camera having poor image qualitycan indicate that the camera is being cleaned, either internally withinthe patient during a surgical procedure or externally to the patient. Asanother example, a camera not being connected to the robotic surgicalsystem 15000 can indicate that the camera has been detached for cleaningor that the initial setup process for the robotic surgical system 15000is ongoing. In any of these cases, it should not be necessary for thesurgical instrument 40200, robotic arm, or other components of therobotic surgical system 15000 to move. Therefore, it can be desirable toprevent movement of the robotic surgical system 15000 in these instancesby locking out users from moving the surgical instruments 40200 and/orrobotic arms until the camera status is resolved and sufficient imagequality within the body of the patient has been (re)established. In oneaspect, a control circuit, such as the processor 15004 of the roboticsurgical system 15000 illustrated in FIG. 22, can operate the roboticsurgical system 15000 according to what is being viewed by the cameraby, for example, executing the process 3330 illustrated in FIG. 65. Inone aspect, the control circuit could be coupled to a proximity sensorconfigured to detect the position of the camera and/or the robotic armon which the camera is supported. In another aspect, the control circuitcan be configured to execute various image processing algorithms fordetermining image quality and/or performing image recognition.

Accordingly, a processor 15004 executing the process 3330 can determine3332 whether a camera is engaged to the robotic surgical system 15000.The processor 15004 can make this determination by monitoring whetherthe robotic surgical system 15000 is actively receiving a video feed, bysensing for the presence of a camera using various detectionarrangements (e.g., as described in connection with FIGS. 62A-63D), andso on. If a camera is not engaged, then the process 3330 proceeds alongthe NO branch and the processor 15004 prevents 3334 movement of asurgical tool, such as a surgical instrument 40200, coupled to therobotic surgical system 15000. If a camera is engaged, then the process3330 proceeds along the YES branch and the processor 15004 determineswhether the image or video feed from the camera are showing anatomy. Theprocessor 15004 can identify anatomical structures using a variety ofimage recognition techniques, such as image overlay. If the image orvideo feed from the camera is not showing anatomy, then the process 3330proceeds along the NO branch and the processor 150004 prevents 3334movement of a surgical tool. If the image or video feed is showinganatomy, then the process 3330 proceeds along the YES branch and theprocessor 15004 enables 3338 movement of the coupled surgical tool.Thereafter, the processor 15004 monitors the quality of the image orvideo feed to ensure that it is maintained within acceptable bounds.Accordingly, the processor 15004 determines 3340 whether the imagequality meets or exceeds a threshold image quality. The processor 15004can make this determination by, for example, algorithmically analyzingthe image or video feed data to ascertain the degree or noise or blurpresent in the data and then comparing the calculated noise or blurrelative to a threshold. If the image quality does not satisfy thethreshold, then the process 3330 proceeds along the NO branch and theprocessor 15004 prevents 3334 movement of a surgical tool. If the imagequality does satisfy the threshold, then the process 3330 proceeds alongthe YES branch and the processor 15004 continues to enable 3338 movementof the surgical tool. In sum, this process 3330 only permits a surgicaltool to be operated via the robotic surgical system 15000 when a camerais engaged and showing anatomy with an appropriate image quality.Therefore, this process 3330 prevents the surgical tool from beingoperated outside of the scope of the surgical procedure, during whenthere should be no or little reasons to operate the surgical tool.

In one aspect, a surgical instrument 40200 (e.g., a trocar 3273) caninclude a grip surface 3342 configured to cause differential vacuumpressure depending upon the orientation of the surgical instrument 40200within a grasper 3272. For example, in the aspect illustrated in FIGS.66A-66C, the grasper 3272 and/or robotic arm 13120 includes a vacuumsource 3344 that is configured to cooperate with a grip surface 3342 ofa trocar 3273 to generate a vacuum pressure when the trocar 3273 isgripped by the grasper 3272. The vacuum source 3344 can include anopening that is configured to sealingly engage with the grip surface3342 of the trocar 3273. The grip surface 3342 can be irregular ornon-uniform such that the grip surface 3342 causes different vacuumpressures to be generated depending upon the orientation of the trocar3273. For example, the grip surface 3342 can include a roughened portion3342 a that is not configured to create an air-tight seal with thevacuum source 3344 and a smooth portion 3342 a that is configured tocreate an air-tight (or substantially air tight) seal with the vacuumsource 3344. To demonstrate these concepts, in FIG. 66B the roughenedportion 3342 a of the grip surface 3342 overlaps partially with theopening of the vacuum source 3344, causing a pressure V₁ to begenerated. Correspondingly, in FIG. 66C the smooth portion 3342 b of thegrip surface 3342 is aligned with the opening of the vacuum source 3344,with no overlap from the roughened portion 3342 a, which thus causes apressure V₂ to be generated. These pressures can be detected by acontrol circuit coupled to the vacuum source 3344 and/or a pressuresource configured to detect the air pressure generated at the interfacebetween the grip surface 3342 and the vacuum source 3344 to identify theorientation of the trocar 3273 relative to the grasper 3272.

FIG. 66D further illustrates a prophetic set of graphs 3350 indicatingcontrol of the robotic surgical system 15000 via a control circuitmonitoring vacuum pressure from the aspect illustrated in FIGS. 66A-66C.The graphs 3350 include a first vertical axis 3352 representing vacuumpressure and a second vertical axis 3354 representing power to a devicecoupled to or a component of the robotic surgical system 15000 (e.g., asurgical instrument or a robotic arm). Further, the graphs 335 include ahorizontal axis 3356 representing time. A first line 3358 represents thevacuum pressure over time and a second line 3360 represents device powerover time. In this example, a pressure value of V₂ indicates that thetrocar 3273 (or other surgical instrument) is oriented properly withinthe grasper 3272 (as shown in FIG. 66C) and thus can serve as athreshold for powering the device. As indicated by the first line 3358,the vacuum pressure initially increases to a first peak at or near V₁,which indicates that the trocar 3273 is not correctly oriented at thattime (as shown in FIG. 66B). Accordingly, the control circuit coupled tothe vacuum source 3344 and/or pressure sensor can identify that thetrocar 3273 is not oriented properly and present an alert orinstructions to the surgical staff, for example. As further indicated bythe first line 3358, the surgical staff correct the orientation of thetrocar 3273 and at time t₁ the vacuum pressure reaches or exceeds thepressure threshold V₂ indicative of the trocar 3273 being orientedcorrectly. Accordingly, the control circuit can activate, energize, orotherwise permit operation of the device controlled thereby, asindicated by the second line 3360 increasing from zero to a define valueat time t₁. The control circuit continues energizing the device until,at time t₂, the vacuum pressure drops steeply (potentially indicatingthat the trocar 3273 has been disconnected from the grasper 3272).Accordingly, the control circuit deactivates the device, as indicated bythe second line 3360 decreasing from the defined value to zero at timet₂. In this way, a control circuit can control the operation of asurgical instrument and/or a component of the robotic surgical system15000 according to detected vacuum pressure indicative of theorientation of a surgical tool, such as a trocar 3273.

Robotic Detection Zones and Safety Thresholds

In various aspects, the movement and functions of the robotic surgicalsystems can be controlled based on the proximity of components of therobotic surgical systems to individuals or objects located within theoperating room or the presence of individuals or objects located withinthe operating room within detection or safety zones defined within theoperating room. For example, FIGS. 67A-74 illustrate a variety ofdifferent illustrative detection arrangements for monitoring theposition of surgical staff members, the patient 3380, components of therobotic surgical systems 3370, and/or surgical tools and controlling therobotic surgical systems 3370 accordingly. Further, each of theseaspects can be utilized in conjunction with situationally aware systems,which are described above under the heading ROBOTIC SURGICAL SYSTEM.

In other aspects, various other activities occurring within theoperating room can be visually monitored to provide additionalinformation to the robotic surgical system regarding the placement andlocation of individuals and objects within the operating room. Forexample, the functional or operational workspace over or about thepatient could be monitored by a camera or series of cameras positionedoutside the patient's body (e.g., on the robotic arm(s) or throughoutthe operating room space). Further, the cameras configured to record theactivities occurring outside the patient's body could be synchronizedwith the image or video feed from scopes positioned within the patient'sbody. By synchronizing the video feeds, the external cameras couldprovide the robotic surgical system with situational awareness regardingactivities occurring in preparation for the next surgical task, toolsbeing changed, or other devices used in tandem with the robot tools.Still further, the external cameras could be configured to tracknon-robotic instruments (e.g., handheld surgical instruments) utilizedby the surgical staff during the course of the surgical procedure. Theexternal cameras could also establish a detection zone or safetyenvelope around the surgical staff with respect to the range of motionof the robotic arm(s) and ensure the robotic arms never violate thisspace. The safety envelope can be updated real time (e.g., with a safetythreshold) to ensure safety of the staff. Sensors or specializedequipment may be worn by the surgical staff to identify themselves andaid in their detection by the robotic surgical system.

In other aspects, various non-camera sensors can be utilized to detectand monitor the detection zones. For example, an alternative to opticalmapping of the operating room and/or individuals within the operatingroom could include RF, acoustic, or millimeter radar detection mediums.For example, the functional or operational workspace could beacoustically mapped by generating a baseline acoustical map and thenmonitoring to detect changes in the acoustical characteristics of themapped area, which could indicate the proximity of individuals orobjects within the mapped area. As another example, antennae could bepositioned at specific locations of the surgical tools, components ofthe robotic surgical system, and other devices. The antennae can beconnected to fixed frequency oscillators in an LC circuit, for example.Accordingly, if an object is sufficiently distant from the givenantenna, the inductive and capacitive reactance match, and the voltagethrough the inductor is at maximum. Moving a grounded object closer tothe antenna (such as a person moving closer to the antenna) changes thecapacitance, which lowers the voltage through the inductor. The changein voltage can be used to drive an amplifier and thus be utilized todetect the movement of individuals or objects through the operatingroom. A control circuit could then control the movement of the roboticarms and other components or the robotic surgical system accordingly.

In one aspect, a detection zone can be defined with respect to theoperating table. For example, FIGS. 67A and 67B illustrate a roboticsurgical system 3370 including a sensor 3271 actuated by a robotic arm13120. In one aspect, the sensor 3271 can be positioned adjacently to asurgical tool coupled to the robotic arm 13120. The sensor 3271 isconfigured to detect a set of detection elements 3374 positioned at thecorners of an operating table 3378. The sensor 3271 can include anysensor type capable of identifying and determining the relative positionor location of the corresponding detection elements 3274. For example,the sensor 3271 can include an image sensor and the detection elements3374 can include visually identifiable elements, for example. As anotherexample, the sensor 3271 can include an RFID reader and the detectionelements 3374 can include RFID tags, for example. In other examples, thesensor 3271 can include a Hall effect sensor and the detection elements3274 can include magnets. In various other examples, the sensor 3271 caninclude a reed sensor, an ultra-high frequency RF sensor, and so on andthe detection elements 3274 can include corresponding elements.

Further, the robotic surgical system 3370 can define a detection zone3376 based on the position of the detection elements 3274 detected bythe sensor 3271. In one aspect, the detection zone 3376 can becoextensive with the detected boundary of the operating table 3378 asdelineated by the detection elements 3274. In other aspects, such as theaspect illustrated in FIGS. 67A and 67B, the detection zone 3376 can benon-coextensive with the operating table. For example, the detectionzone 3376 can be defined as extending a distance p from the detectedboundary of the operating table 3378 and a height h thereabove. Thedetection zone 3376 can define a volume about the operating table 3378and/or patient 3380 in which the robotic surgical system 3370 monitorsfor the presence of objects and/or individuals and then controls thesurgical tools or components of the robotic surgical system 3370accordingly. For example, if an individual (other than the patient 3380)is detected as being present within the detection zone 3376, a controlcircuit coupled to the sensor 3271 can cause the robotic arm 13120 tocease movement, thereby preventing the robotic arm 13120 and/or asurgical tool coupled thereto from contacting the individual. As anotherexample, if a surgical tool is detected as being present within thedetection zone 3376, the control circuit can slow the movement of therobotic arm 13120 or decrease the maximum allowable movement speed ofthe robotic arm 13120, thereby seeking to mitigate the risk of thesurgical tool being inadvertently brought into contact against thepatient 3380.

In one aspect, a detection zone can be defined with respect to removablyattachable tags, thereby allowing users to freely define the scope andbounds of the detection zone. For example, FIG. 68 illustrates a tag3384 detectable by a sensor, as described above. The tags 3384 can beutilized to identify the space occupied by the patient 3380 or toestablish other safety thresholds to ensure that the components of therobotic surgical system 3370 and/or surgical tools supported thereby donot violate that space or function differently within that space. Thetags 3384 can be disposable or reusable. In operation, the tags 3384could be placed by the user (e.g., a surgeon or nurse) on or around thepatient 3380 to provide feedback to the robotic surgical system 3370regarding the patient location or a desired safety zone (which may notnecessarily be limited to a space defined by the patient's location).Accordingly, users can flag the operating table 3378, the patient 3380,the limbs or other body parts of the patient 3380, and/or other criticalor interfering objects within the operating envelope. In one aspect, thetags 3384 can include a detection element 3374 coupled to an attachmentsurface 3386, such as an adhesive surface, affixable to the patient orobjects. As shown in FIG. 69A, a sensor 3382 supported by a robotic arm13120 adjacently to the surgical tool (e.g., a trocar 3273) can detectthe detection elements 3374 of the tags 3384 as they are positioned onthe patient 3380 or other objects. Further, as shown in FIGS. 69B-69D,the tags 3384 can be utilized to identify a detection zone or safetythresholds with respect to patients 3380 of different body dimensions.Such customizable detection zones or safety thresholds can be much saferthan statically defined detection zones due to the inherent variation inpatients' 3380 anatomy.

In one aspect, a detection zone can be defined with respect to acomponent of the robotic surgical system itself, such as a robotic arm13120. For example, in FIG. 70 the robotic surgical system includes asensor 3388 (e.g., an image sensor) that is configured to detect theposition of a surgical instrument 40250 or another surgical toolsupported by a robotic arm 13120 with respect to a detection zone 3390corresponding to the range of movement of the surgical instrument 40250.In various aspects, the sensor 3388 can be mounted to the robotic arm13120 or positioned at another location within the operating room. Inone aspect, the scrubs 3394 provided to the surgical staff members caninclude reflective material 3393 to assist the camera 3388 or otherimage sensor in visually distinguishing the surgical staff members fromthe surrounding environment and thereby detecting when they are presentwithin a detection zone 3390.

In one aspect, the robotic surgical system can be configured to definemultiple detection zones that delineate different manners in which therobotic arm 13120, surgical instrument 40250, or other components of therobotic surgical system are controlled. For example, FIG. 72 illustratesan example where the sensor 3388 is configured to monitor both a firstdetection zone 3390 (which is also shown in FIG. 70) and a seconddetection zone 3396 defined about the first detection zone 3390. Thefirst detection zone 3390 can correspond to the range of movement of thesurgical instrument 40250 supported by the robotic arm 1310 and thesecond detection zone 3396 can correspond to a threshold distance aboutthe first detection zone 3390, for example. However, the variousdetection zones 3390, 3396 do not necessarily be defined in relation toeach other and, in some aspects, can instead be separately defined fromeach other or defined according to separate locations, objects, orindividuals. Further, as noted above, the robotic arm 13120 could becontrolled differently depending upon which of the detection zones 3390,3396 an individual is present within. For example, the sensor 3388 doesnot detect an individual in either of the detection zones 3390, 3396,then a control circuit coupled to the sensor 3388 can permit the roboticarm 13120 and/or surgical instrument 40250 to operate normally. If thesensor 3388 detects an individual present within the second detectionzone 3396, but not the first detection zone 3390, the control circuitcan take a first action, such as slowing or limiting the maximummovement speed of the robotic arm 13120. Finally, if the sensor 3388detects an individual present within the first detection zone 3390, thecontrol circuit can take a second action, such as deactivating orpreventing movement of the robotic arm 13120 and/or the surgicalinstrument 40250. Therefore, the robotic surgical system can dictate itsbehavior based on the position of the surgical staff relative to thedetection zones 3390, 3396.

In another aspect, the robotic surgical system can be configured todetect an object or reference worn by surgical staff members during asurgical procedure. For example, the robotic surgical system in FIG. 73can include a sensor 3404 to sense the location and/or presence of aband 3400 worn by the surgical staff in the operating room and thencontrol the robotic arm 13120 and/or the surgical instrument 40250accordingly. The bands 3400 can include an elastomeric material, forexample, and could be worn on the wrist, forearm, bicep, and so on.Further, the bands 3400 could be disposable or reusable. In one aspect,the sensor 3404 can include a thermal camera and the band 3400 caninclude a thermal band that is configured to emit thermal energy or hasbeen heated to a particular temperature, for example. The thermal bandcan be set to a predefined temperature, such as 99° F. Having the bands3400 set to a predefined temperature could be beneficial because itwould allow the sensor 3404 to be calibrated to detect objectsspecifically at that temperature, thereby improving detection accuracy.On benefit of utilizing thermal data is that the operating room is oftendimmed or dark during setup for a surgical procedure, which caninterfere with the function of image sensors configured to work withinthe visual light spectrum. In another aspect, the sensor 3404 caninclude a magnetic or RF sensor and the band 3400 can include a magneticor RF band, respectively. As noted above with respect to the roboticsurgical system including a thermal camera for detecting a thermal band,such magnetic or RF detection mediums can be beneficial in situationswhere the room is darkened or dim.

In various other aspects, the robotic surgical system could also beconfigured to utilize multi-spectral imaging, passive IR, visual light,multi-spectral RF, and/or ultrasound and other detection mediums tomonitor the operating room and its inhabitants and surgical tools. Suchsensor data could also be utilized by the robotic surgical system tocomplement or augment contact sensor data (e.g., as described inconnection with FIGS. 54A-66D).

As noted above, a control circuit coupled to the various describedsensor assemblies can control the actions or operations of the roboticsurgical system or surgical instruments coupled to the robotic surgicalsystem in a variety of different manners. Such control circuits caninclude the processor 15004 of the robotic surgical system 15000illustrated in FIG. 22, for example. Accordingly, the control of onesuch control algorithm executed by a control circuit is illustrated byFIG. 74, which is a set of graphs 3410. The graphs 3410 include a firstvertical axis 3412 representing distance between the detected object anda reference (e.g., the distance between a thermal band 3400 and athermal camera 3404 or the distance between a surgical staff member anda defined detection zone), a second vertical axis 3414 representingpower provided to the robotic surgical system, and a horizontal axis3416 representing time. In this particular prophetic example, therelative position of three objects within the operating room are beingmonitored, one of which is represented by each of the first line 3418,the second line 3420, and the third line 3422. In this implementation,the control circuit is configured to modulate the maximum allowablepower providable to the robotic surgical system according to therelative positions of the objects. The distance d_(m) represents themaximum detection distance for the robotic surgical system and thedistance d_(t) represents the safety or threshold distance between themonitored objects and the reference. As can be seen by the first line3418, the first object never violates the distance d_(t). As can be seenby the second line 3420, the second object is detected as being withinthe threshold distance d_(t) at time t₁ (i.e., is within a safety zoneor safety envelope defined with respect to the reference). Accordingly,the control circuit reduces the maximum allowable power to the robotfrom the “full” to the “low” value. As can be seen by the third line3422, the third object likewise moves within the distance d_(t) after t₁and both of the second and third objects are within the distance d_(t)for a time period, prior to the second object moving away by at leastthe distance d_(t). However, at the time that the second object movesaway by at least the distance d_(t), the third object is nonethelessstill within the threshold distance d_(t) from the reference; therefore,the control circuit maintains the maximum allowable power at the “low”value. However, at time t₂, the second object likewise moves away fromthe reference by at least the threshold distance d_(t). As there are noobjects violating the threshold distance d_(t), the control circuitincreases the maximum allowable power to the “full” value. The thirdobject once again violates the threshold distance d_(t) between time t₃and t₄. In response, the control circuit once again decreases themaximum allowable power to the robotic surgical system to the “low”period during that time period. Further, at time t₅, all three objectshave moved past the maximum detection distance d_(m). Accordingly, thecontrol circuit can determine that the surgical procedure has beencompleted and deactivates the robotic surgical system (as indicated bythe maximum allowable power being decreased to zero). In sum, one ormore functions of the robotic surgical system (e.g., the maximumallowable power) can be controlled according to the presence of one ormore objects or individuals within particular zones or within particularproximities defined according to various reference objects.

Motor Pack Assemblies

Referring back to FIGS. 23 and 25-27, the robotic surgical assembly40100 can include a motor pack 40050 configured to be received withinthe sterile barrier housing 40130. The motor pack 40050 may include fourmotors 40052, 40054, 40056, 40058 with respective drive shafts 40052 a,40054 a, 40056 a, 40058 a for driving various operations of a surgicalinstrument 40100 coupled to the robotic surgical assembly 40100. Variousalternative motor packs 40050 are described herebelow.

In one aspect, the motors of the motor pack 40050 may be reconfigurableor interchangeable. For example, FIG. 75 illustrates a motor assembly3430 supportable within a motor pack 40050, wherein the motor assembly3430 includes a set of modular motor units 3432. In this aspect, themotor pack 40050 can be configured to support sets of modular motorunits 3432, as opposed to a singular set of motors, where each of themodular motor units 3432 could be individually swapped out of the motorpack 40050. In the illustrated example, the modular motor units 3432include a first motor 3434 a and a second motor 3434 b coupled tocontrol circuitry 3436 and electrical connector 3438 for receivingcontrol signals. However, the modular motor units 3432 can include anynumber of motors. Configuring the motor assembly 3430 as a collection ofmodular motor units 3432 provides several benefits compared to utilizinga singular, integral motor assembly, including improving the modularityof the motor pack 40050, improving the ease with repairs can beperformed on the motor pack 40050, and permitting new or updatedtechnologies to be integrated into previous versions of the motor pack40050. For example, the modular motor units 3432 could be swappedbetween a handheld surgical instrument (e.g., the surgical instrumentshown in FIGS. 79-80) and a robotically controlled surgical instrument(e.g., the surgical instruments 400200, 400250 shown in FIG. 23 or 52).As another example, if there is a failure with one of the motors or thecontrol circuitry of the motor pack 40050, then the malfunctioningmodular motor unit 3432 can be removed and repaired, withoutnecessitating that the entire motor pack 40050 be disassembled orserviced. As yet another example, because each of the interchangeablemodular motor units 3432 includes its own control circuitry 3436, thecontrol circuitry 3436 could include the necessary logic for controllingthe modular motor unit 3432 and thus new versions of modular motor units3432 could be integrated into prior versions of motor packs 40050without requiring any further hardware upgrades to the robotic surgicalsystem. Therefore, motors that are more efficient (e.g., requiring lesspower or providing more torque for the same amount of power), providemore torque, have higher hold loads, quieter drives, have longeroperational lifespans, generate higher output speeds, have smallerexternal footprints, generate less heat, have improved water tightconfigurations, and so on could be integrated into prior versions ofmotor packs 40050 as these updated motor configurations are developed,without requiring any other hardware updates or other changes to therobotic surgical system architecture. Further, modular motor units 3432from different manufacturers or even containing different types ofmotors could be swapped into a motor pack 40050.

In one aspect, the motor pack 40050 can further be configured to assistin swapping out or servicing the modular motor units 3432. For example,FIG. 76 illustrates a motor pack 40050 that includes a body 3448configured to receive a motor assembly therein, such as a motor assembly3430 including one or more modular motor units 3432 as shown in FIG. 75or the motor assembly shown in FIG. 27, and a lid 3446 that is removablyaffixable to the body 3448. Accordingly, users could remove the lid 3446from the body 3448, replace and/or service any modular motor units 3432or other motor assemblies therein, and then replace the lid 3446. Thelid 3446 can be removably connectable to the body 3448 via one or moredetents 3450 that are configured to engage corresponding slots 3452disposed on the body 3448, for example.

In another aspect, the motors of the motor pack 40050 may bere-orientable or reconfigurable into different configurations. Forexample, the motors can be swapped between a first configuration or asecond configuration, which can in turn cause the motor to producedifferent effects or provide different functions. Referring again toFIG. 75, one of the motors (e.g., the first motor 3434 a) within amodular motor unit 3432 can include a gear drive 3440 wherein the laststage 3442 drives an output shaft 3444 (e.g., a drive shaft 52 a, 54 a,56 a, and 58 a as illustrated in FIG. 27) that is offset from or notaligned with the longitudinal axis of the motor 3434 a. Accordingly, theoutput shaft 3444 of the motor 3434 a can positioned a first orientationor a second orientation with respect to the motor pack 40050 dependingupon the orientation of the modular motor unit 3432 within the motorpack 40050. In various aspects, one or multiple of the motors within amotor pack 40050 and/or a modular motor unit 3432 can be reconfigurablein this manner. Such reconfigurable motors could be utilized to, forexample, allow users to configure which drive disk or sterile shelldrive coupler (such as the drive coupler 44144 a shown in FIG. 81B) iscoupled to which modular motor unit 3432, which would in turn changewhich function of the surgical instrument each motor was driving.Further, the use of reconfigurable motor packs 40500 within the IDU40110 (FIG. 23) would allow users to customize the IDU 40110 fordifferent, more advance, and/or new surgical tools. Further, the motorswithin the motor pack 40500 could be constructed to have different sizesand/or different power outputs. Therefore, reconfigurable motors withinthe motor pack 40500 could allow users to align the differently sizedmotors with particular drive couplers depending upon the type ofsurgical instrument being coupled to the IDU 40110. Having differentlysized motors could be beneficial because not all surgical instrumentfunctions require the same torque thresholds. Therefore, the motorwithin the motor pack 40050 could be constructed so that some of themotors were larger to produce higher output power/torque and some motorswere smaller to produce lower output power/torque, without altering theoverall size of the motor pack 40050. During use, the motor pack 40050could then be reconfigured to align the motors based on the particulardesired or required output power/torque for the surgical instrument. Inanother aspect, for motor packs 40050 that include differentially sizedmotors or motors have offset output shafts 3444, the motor pack 40050could additionally include a gearing assembly that engages with thedifferentially aligned output shafts of the motors and places the outputof the motor pack 40050 back on the centerline of the motors.

Generally speaking, the motor pack 40500 for a robotic surgical systemincludes a four-motor configuration (see, e.g., FIG. 27), whereas amotor assembly for a handheld surgical instrument is driven by athree-motor configuration. Therefore, motor assemblies for roboticsurgical systems and handheld surgical instruments can be incompatiblewith each other. However, in one aspect, the motor assembly 3430 can bereconfigurable for use in connection with a robotic surgical system13000 or a handheld surgical instrument. For example, FIG. 77illustrates a motor assembly 3430 supportable within a motor pack 40050,wherein the motor assembly 3430 includes a first modular motor unit 3456including a single motor and a second modular motor unit 3454 includingthree motors 3453. In this example, the motor assembly 3430 can beprovided in a first configuration where the first modular motor unit3456 is utilized in conjunction with the second modular motor unit 3456and a second configuration where the first modular motor unit 3456 isremoved and the second modular motor unit 3454 is utilized alone. Whenin the first configuration, the motor assembly 3430 can be utilized todrive a robotic surgical system, for example. When in the secondconfiguration, the motor assembly 3430 can be utilized to drive ahandheld surgical instrument 3458, as illustrated in FIG. 79, forexample. In particular, the second modular unit 3454 can be arrangedsuch that its motors 3453 are aligned with corresponding connectors 3455or drive shafts of a handpiece 3457 for receiving and/or coupling thehandpiece 3457 to the motors 3453. Correspondingly, the motors 3453 ofthe second modular unit 3454 can be configured to engage and drive theproximal couplers 3461 of the drive assemblies of an electromechanicalsurgical instrument 3460, as illustrated in FIG. 80, when theelectromechanical surgical instrument 3460 is coupled to the handpiece3457 (e.g., via a coupling collar 3462). Accordingly, depending uponwhich configuration the motor assembly 3430 is in (i.e., whether thefirst modular motor unit 3456 is present or remove), the motor assembly3430 can interchangeably drive either a robotic surgical system or ahandheld surgical instrument 3458.

In another aspect, a handheld surgical instrument 3458 could beconfigured to have a single a non-replaceable, permanent, or integralmotor and be configured to receive a modular motor unit containing twomotors, such as the modular motor unit 3432 illustrated in FIG. 75.Accordingly, a modular motor units 3432 could interchangeably drive ahandheld surgical instrument 3458 in combination with its integral motoror drive a robotic surgical system in combination with a second modularmotor unit 3432. The non-replaceable motor for the handheld surgicalinstrument 3458 could be utilized to drive a particular selectedfunction for the handheld surgical instrument 3458, such as rotation ofthe instrument's shaft. Further, the motors 3434 a, 3434 b of themodular motor unit 3432 could be higher capacity (i.e., capable ofproducing higher output powers or torques) and could therefore beutilized to drive the surgical functions of the handheld surgicalinstrument 3458. In yet another aspect, a handheld surgical instrument3458 could be configured to receive a motor pack 40050 comprising fourmotors, but lock out or not engage one of the motors that is unneeded.Alternatively, a handheld surgical instrument 3458 that is normallydriven by three motors, but includes some manual function (e.g., manualrotation of the instrument's shaft), could engage all four motors of themotor pack 40050 and then convert the manual operation to a motor-drivenoperation. This aspect could include various adapters and/or additionalcontrols for controlling the motor-driven operation.

Referring now to FIGS. 81A and 81B, the robotic surgical assembly 44100includes a sterile barrier housing 40130 configured to mate with orotherwise connect to the shell 44060. The sterile barrier housing 40130includes a hollow shell or body 44132 defining a cavity 44132 a therein.The sterile barrier housing 40130 pivotally or hingedly supports aproximal cap or cover 40134 configured and adapted to selectively closea proximal end of the body 44132. The sterile barrier housing 40130further includes a drive transfer assembly 44140 supported on, orconnected to, a distal end of the body 44132. The cavity of the body44132 of the sterile barrier housing 40130 is configured to slidablyreceive a motor pack 40050 (FIG. 23) or the like therein.

The drive transfer assembly 44140 of the sterile barrier housing 40130includes a body portion 44142 extending from the distal end of the body44132. The body portion 44142 of the drive transfer assembly 44140 has anon-circular form (e.g., substantially D-shaped, as illustrated) outerprofile for keyed receipt within a complementary non-circular (e.g.,D-shaped, as illustrated) passage or opening of the pulley 40048 (FIG.23) of the carriage 40042 (FIG. 23). While a D-shaped, transversecross-sectional profile is shown and described, any non-circular,transverse cross-sectional profile may be used to provide a keyedconnection, including and not limited to hex, Allen, star, cross, double“D”, “T”, torx, val, phillips, helix profiles.

The drive transfer assembly 44140 rotatably supports at least one, andas shown in FIGS. 81A and 81B, four drive transfer shafts 44144, 44146,44148, 44150. As illustrated, a proximal end of each drive transfershaft 44144, 44146, 44148, 44150 non-rotatably supports a respectivedrive coupler (of which only driver coupler 44144 a is shown in FIG.81B) that, via the motor couplers 41052 b, 41054 b, etc. (FIG. 27), areconfigured and adapted for non-rotatable connection to a drive shaft41052 a, 41054 a, 41056 a, 41058 a (FIG. 27) of a respective motor41052, 41054, 41056, 41058 (FIG. 27) of motor pack 40050. In particular,each drive coupler is translatably supported on respective drivetransfer shaft 44144, 44146, 44148, 44150 via a pin-slot arrangementsuch that the couplers may float on respective drive transfer shaft44144, 44146, 44148, 44150. Each drive coupler defines a respectivemating feature configured to receive and transmit rotational forces fromrespective drive shafts 41052 a, 41054 a, 41056 a, 41058 a of the motors41052, 41054, 41056, 41058 of the motor pack 40050. A distal end of eachdrive transfer shaft 44144, 44146, 44148, 44150 supports a respectivedrive coupler 44144 b, 44146 b, 44148 b, 44150 b, which are configuredand adapted for non-rotatable connection to proximal couplers 3461 (FIG.80) of the drive assemblies of the electromechanical surgical instrument(e.g., the surgical instrument 40200 illustrated in FIG. 23, thesurgical instrument 43250 illustrated in FIG. 57A, or the surgicalinstrument 3460 illustrated in FIG. 80). It is contemplated that eachdrive coupler 44144 b, 44146 b, 44148 b, 44150 b may resemble a crowngear or the like.

The motor pack 40050 and the sterile barrier housing 40130 can havedifferent shapes and configurations than those illustrated in FIGS. 81Aand 81B, however. In one aspect, the motor pack 40050 and/or sterilebarrier housing 40130 can be dimensioned or include alignment featuresconfigured to urge the motor pack 40050 into proper alignment with thesterile barrier housing 40130 when the motor pack 40050 is beinginserted into the sterile barrier housing 40130 and/or when the sterilebarrier housing 40130 is being closed, as opposed to the cavity 132 a ofthe sterile barrier housing 40130 having a cylindrical profile asillustrated in FIGS. 81A and 81B. For example, FIGS. 82A-82C illustratea motor pack 40050 and a corresponding sterile barrier housing 40130including a variety of characteristics to promote the alignment of themotor pack 40050 within the sterile barrier housing 40130.

In one aspect, the body 3471 of the motor pack 40050 and the cavity44132 a of the sterile barrier housing 40130 can have a complementarynon-radially symmetric shape, such as an oval. The protrusion body 3471and/or cavity 44132 a can have a symmetric profile or may be tapered,for example, to improve ease of use by allowing for the keyedinteraction between the protrusion body 3471 and the cavity 44132 a toget tighter the farther the motor pack 40050 is inserted into thesterile barrier housing 40130.

In another aspect, the motor pack 40050 can include a protrusion 3470 oralignment feature extending from its body 3471 and the sterile barrierhousing 40130 can include a corresponding recess 3472 that is configuredor keyed to receive the protrusion 3470. The protrusion 3470 can bedimensioned to physically prevent the motor pack 40050 from beinginserted into the sterile barrier housing 40130 in any orientationexcept where the protrusion 3470 is aligned with the keyed recess 3472.The protrusion 3470 and/or recess 3472 can have a symmetric profile ormay be tapered, for example, to improve ease of use by allow for thekeyed interaction between the protrusion 3470 and the recess 3472 to gettighter the farther the motor pack 40050 is inserted into the sterilebarrier housing 40130.

In another aspect, the motor pack 40050 can include a protrusion 3473 oralignment feature extending from its body 3471 and the cap 40134 of thesterile barrier housing 40130 can include a corresponding recess 3475configured or keyed to receive the protrusion 3473 when the motor pack40050 is positioned within the sterile barrier housing 40130 and the cap40134 is being closed. The recess 3475 could thus be configured tophysically interact with the protrusion 3473 of the motor pack 40050 asthe cap 40134 is closed, aligning or seating the motor pack 40050 withinthe sterile barrier housing 40130. In one further aspect, the protrusion3473 can include an electrical connector and the recess 3475 can includea corresponding electrical connector configured to electrically andcommunicably couple the motor pack 40050 to the sterile barrier housing40130 when the cap 40134 is closed, thereby allowing electrical signalsand other controls signals to be transmitted to the motor pack 40050through the corresponding electrical connectors.

Although the particular example illustrated in FIGS. 82A-82C includesall three of the aforementioned aspects, this example is merely forillustrative purposes and the motor pack 40050 and/or sterile barrierhousing 40130 can include any combination of one or multiple of theseaspects.

In various aspects, the motors of the various motor assemblies describedherein can be inline or offline from the surgical tool, the IDU 40110,and/or any other component of the robotic surgical system. In oneaspect, if a particular type of motor pack 40500 is incapable of drivinga desired function of a robotic surgical system and/or a handheldsurgical instrument, then the motor pack 40500 could be supplementedwith more than one motor operating in parallel to one another toincrease the capabilities of the motor pack 40500. Accordingly, a motorand/or motor pack 40500 could be configured to piggyback another primarymotor pack 40500 being utilized to drive a robotic surgical system,allowing the robotic surgical system 40100 to operate inline from themacro perspective of the overall system and the motor pack 40500relative to the surgical tool, but allow the offset motor and/or motorpack 40500 to boost the primary drive motor pack 40500 to which it iscoupled and thereby preform at a level beyond the standard outputconfiguration of that size and type of motor pack 40500. Various inlinemotor assembly configurations are described in connection with PCTApplication Publication No. WO2017/210516, titled ROBOTIC SURGICALASSEMBLIES AND INSTRUMENT DRIVE UNITS THEREOF; PCT ApplicationPublication No. WO2017/205308, titled ROBOTIC SURGICAL ASSEMBLIES; andU.S. Patent Application Publication No. US2018/0168748, titled ROBOTICSURGICAL ASSEMBLIES, each of which is hereby incorporated by referenceherein in its entirety. Various offline motor assembly configurationsare described in connection with PCT Application Publication No.WO2016/183054, titled COUPLING INSTRUMENT DRIVE UNIT AND ROBOTICSURGICAL INSTRUMENT; U.S. Patent Application Publication No.US2018/0153628, titled OFFSET INSTRUMENT DRIVE UNIT; and PCT PatentApplication Publication No. WO2016/043845, titled ROBOTICALLYCONTROLLING SURGICAL ASSEMBLIES, each of which is hereby incorporated byreference herein in its entirety.

Robotic Surgical Assembly Adapter and Bailout Assemblies

Referring back to FIGS. 23-27, the robotic surgical assembly 40100 caninclude an IDU 40110 that is drivingly couplable to a sterile barriercollar assembly 40170 (or the sterile barrier collar assembly 43630described in connection with FIGS. 51-53), a carriage 40042 (or asterile shell 40060 situated thereover), and an electromechanicalsurgical instrument 40200 for driving the various functions of thesurgical instrument 40200 via a motor assembly supported within the IDU40110. The robotic surgical assembly 40100 described above canadditionally include various integrated adapters, bailouts, or othermechanisms for limiting damage to the robotic surgical assembly 40100and/or robotic surgical system 15000 (FIG. 22), returning a damagedsurgical instrument 40200 to a removal state, and performing variousother functions.

In one aspect, the robotic surgical assembly 40100 can include motortorque fuses that are configured to limit the maximum force exertablefrom the motor pack 40050 on the surgical instrument 40200. For example,the sterile barrier collar assembly 43630 could be configured tofunction as both a coupling mechanism (e.g., between the IDU 40100 andthe surgical instrument 40200) and a fuse to prevent over torqueing ofan attached surgical instrument 40200. In particular, one or both of thedrive transfer assemblies 43668, 43670 of the sterile interface module43630 could have reduced cross-section along their length that wouldencourage the drive transfer assemblies 43668, 43670 to fusably failbefore either the motor gear train of the motor pack 40050 or the drivetrain of the surgical instrument 40200 in the event that a high torquecondition occurs. Accordingly, this would reduce the possibility ofdamage to the reusable components of the robotic surgical assembly 40100and the surgical instrument 40200. Preventing damage to the surgicalinstrument 40200 in the event that a high torque condition occurs isespecially desirable because if the drive train of the surgicalinstrument 40200 is damaged or jams during a surgical procedure, thesurgical instrument 40200 could cause damage to any tissue grasped orbeing treated by the surgical instrument 40200. Therefore, having thesterile barrier collar assembly 43630 or a component thereof fail is amuch more desirable alternative.

In one aspect, the drive transfer assemblies 43668, 43670 of the sterilebarrier collar assembly 43630 could be configured to reduce or eliminatebuilt-up torque in the rotary driver due to the motor pack 40050. Forexample, FIGS. 83A and 83B illustrate a sterile barrier collar assembly43630 engaged with the rotary drivers 3480 from the motor pack 40050(e.g., drive shafts 41052 a, 41054 a, 41056 a, 41058 a illustrated inFIG. 27) or sterile barrier housing 40130 (e.g., the drive transfershafts 44144, 44146, 44148, 44150 of the drive transfer assembly 44140illustrated in FIG. 81A). In this aspect, the rotary drivers 3480 eachinclude a tab 3482 having a tapered profile with beveled edges 3483.Further, the drive couplers 3484 each include a recess 3486 and that isconfigured or keyed to receive the tab 3482 from a corresponding rotarydriver 3480 and likewise includes beveled edges 3487. This profile ofthe tabs 3482 of the rotary drivers 3480 and the corresponding recesses3486 of the drive couplers 3484 allows for the reduction of built-uppressure in the robotic surgical assembly 40100 if the motor pack 40500were to fail when the sterile barrier collar assembly 43630 is releasedfrom the driver carriage of the surgical instrument 40200. Inparticular, the illustrated profile allows for complete engagementbetween the rotary drivers 3480 and the drive couplers 3484 when thereis no force driving them apart, thereby allowing the rotary drivers 3480and the drive couplers 3484 to function as normal. However, when thesterile barrier collar assembly 43630 is released from the surgicalinstrument 40200, the distally slidable motion allows built up torque tobe released from the coupling between the rotary drivers 3480 and thedrive couplers 3484 because the tabs 3482 partially disengage from thecorresponding recesses 3486 and the beveled edges 3483, 3487 allow forthe rotary drivers 3480 and/or drive couplers 3484 to slip or move withrespect to each other. The slippage thereby allows for the release ofany built-up torque, which in turn allows for easy removal of thecomponents of the robotic surgical assembly 40100.

In one aspect, the robotic surgical assembly 40100 can include amechanism for physically actuating or manipulating a surgical instrument40100 coupled to the robotic surgical assembly 40100 (or a portionthereof) during the operation thereof. In some situations, the motorpack 40050 can become jammed or suffer an electrical or mechanicalfailure that results in the surgical instrument 40200 not responding tothe surgeon's controls, which can be especially problematic when thesurgical instrument 40200 is inserted within a patient during a surgicalprocedure. In one aspect, the motor pack 40050 can be disengaged fromthe sterile interface module 43630, leaving the sterile interface module43630 connected to the surgical instrument 40200 such that the drivecouplers 3484 (which are normally driven by the motor pack 40500) arevisible and able to be accessed. When exposed, the drive couplers 3484could be manually drivable to actuate the surgical instrument 40200connected thereto. For example, in FIGS. 84A-84C the robotic surgicalassembly 40100 can further include an interface module 3492 that isconfigured to engage with the drive couplers 3484 of the sterileinterface module 43630 and allow the drive couplers 3484 to be manuallydriven by standard sterile OR tools (e.g., hemostats 3498) to manuallyactuate various functions of the surgical instrument 40200, includingallowing the surgical instrument 40200 to be manipulated such that itcan be extracted from the patient. In one aspect, the interface module3492 includes a driver 3490 that is configured to be manually actuatabledrive a drive coupler 3484 that is coupled to the interface module 3492.In the illustrated example, the driver 3490 includes a first end 3494that is configured to engage with a corresponding mating portion of adriver coupler 3484 (e.g., the recess 3486 of the drive coupler 3484 asillustrated in FIGS. 83A and 83B) and a second end 3496 that isconfigured to extend to be manually grippable to actuatable by tools.The second end 3496 can include a tab or projection. In one aspect, thedriver 3490 is positioned on the interface module 3492 to engage with aparticular driver coupler 3484 of the sterile interface module 43630.For example, the driver 3490 can be positioned in the interface module3492 to engage with the drive coupler 3484 that is configured to controla critical function of the surgical instrument 43250, such as the drivercoupler 3484 that controls the I-beam shaft for a surgical stapling andcutting instrument. Although illustrated as including a single driver3490, in other aspects the sterile interface module 3492 can includemultiple drivers 3490.

In one aspect, the robotic surgical assembly 40100 can include amechanism for manually bailing out the robotic surgical assembly 40100during operation. For example, the robotic surgical assembly 40100 couldinclude a bailout lever that, when actuated, either interrupts the drivetrain between the motor pack 40500 and the sterile collar assembly 43630or causes the motor pack 40500 and the sterile collar assembly 43630 tocounter-rotate. On such example is illustrated in FIGS. 85A and 85B,which shows a sterile barrier housing 40130 including a bailout lever3500 that is actuatable between a first position that permits normaloperation of the robotic surgical assembly 40100 and a second positionthat interrupts the operation of the robotic surgical assembly 40100. Inparticular, the bailout lever 3500 is coupled to a first or bailout gear3502 that is transitioned from a first position that is disengaged fromthe drive train 3508 between the motor pack 40500 and the sterile collarassembly 43630 and a second position that is engaged with the drivetrain 3508 such that the operation of the drive train 3508 isinterrupted as the bailout lever 3500 is actuated from its firstposition to its second position. As the bailout gear 3502 istransitioned to the second position, the bailout gear 3502 engages witha corresponding second or motor gear 3504, as shown in FIG. 85B. Theengagement between the bailout gear 3502 and the motor gear 3504 locksthe motor gear 3504, which in turn prevents actuation or operation ofthe motor 3506 to which the motor gear 3504 is coupled and/or the motorassembly 41114 (FIG. 26) as a whole.

In one aspect, the bailout lever 3500 could be configured such thatactuating the bailout lever 3500 (i.e., transitioning the bailout lever3500 to the second position) could permanently deform or otherwiserender the sterile barrier housing 40130 no longer usable. In anotheraspect, the bailout lever 3500 could include a resetable feature thatallows the bailout lever 3500 to be reset (and the sterile barrierhousing 40130 utilized again) after it has been actuated, unless anexcessive load was imparted upon the bailout gear 3502 when engaged withthe motor gear 3504 and/or drive train 3508. In one aspect, the bailoutlever 3500 could have ergonomic features that are easily gripped. Inanother aspect, the bailout lever 3500 could include a connector that isconfigured to engage with a second lever member that allows the secondlever member to be attached to the bailout lever 3500 to extend thelength of the bailout lever 3500 and thereby provide an improvedmechanical advantage. In one aspect, the bailout lever 3500 couldinclude a unidirectional mechanism (e.g., a ratchet mechanism) that isconfigured to prevent the bailout lever 3500 from being actuated in theincorrect direction. The unidirectional mechanism could be engaged ordisengaged according to the type of drive train 3508 to which thebailout lever 3500 is coupled (e.g., a drive train for articulating asurgical instrument 40200 or a drive train for actuating the jaw(s) of asurgical instrument). Further, the unidirectional mechanism could beconfigured selectably constrain counter-rotating movement of the drivetrain 3508 (or a component thereof). For example, in robotic surgicalassemblies 40100 that permit manual actuation (e.g., for resetting therobotic surgical assembly 40100, as illustrated in FIGS. 84A-84C), theunidirectional mechanism could be configured to constraincounter-rotating movement in the direction in which the robotic surgicalassembly 40100 is manually actuatable.

In one aspect, the robotic surgical assembly 40100 can includeinterchangeable or replaceable bailout systems to allow for jammed orbroken components of the robotic surgical assembly 40100 to be reset.The interchangeable bailout assemblies could be couplable to the sterilecollar assembly 43630, for example. In use, users could disconnect thesterile collar assembly 43630 from the IDU 41110, couple aninterchangeably bailout assembly to the sterile collar assembly 43630,and then manually actuate the bailout assembly to reset the sterilecollar assembly 43630 and/or a surgical instrument 40200 coupled theretoto a particular position (e.g., full retraction or centering of thedrive assembly of the sterile collar assembly 43630). In one aspect, thebailout assembly could be configured to actuate all of the driveassembly members to their home positions simultaneously. In one aspect,the bailout assembly could include a return or resetting lever that isselectively couplable to a specific drive member, thereby allowing theuser to individually actuate or retract each drive member to its homestate. In one aspect, the bailout assembly could include a sensorconfigured to sense a parameter of the bailout assembly to know wherethe home position is of the drive assemblies are and controllablyretract to the drive assemblies to their home positions, preventing andover-retraction or centering of the drive assemblies. In one aspect, thebailout assembly could include a control circuit configured tocommunicably connect to the surgical instrument 40200 when coupled tothe robotic surgical assembly 40100 (e.g., through electrical contactsdisposed on surgical instrument 40200 and the components of the roboticsurgical assembly 40100). The control circuit could be configured toidentify the surgical instrument 40200 and then control the bailoutassembly according to the surgical instrument type (i.e., configure itsparameters to return the drive assemblies to the home positionsparticular for that surgical instrument type). The control circuit couldalso be configured to mark the surgical instrument 40200 as damaged toprevent reuse of the surgical instrument 40200. For example, the controlcircuit could write to a value to an EEPROM within the surgicalinstrument 40200 that marks the surgical instrument 40200 as damaged andthereby prevents the surgical instrument 40200 from operatingthereafter. In one aspect, the bailout assembly could include a motor orother powered system for automatically actuating the drive assembly towhich it is connected to its home position, rather than requiring thatusers manually actuate the bailout assembly to reset the roboticsurgical assembly 40100. Further, the bailout assembly could includecontrols or be communicably coupled to controls, such that users cancause the bailout assembly to reset the robotic surgical assembly 40100to the desired position via actuation of the controls.

While several forms have been illustrated and described, it is not theintention of the applicant to restrict or limit the scope of theappended claims to such detail. Numerous modifications, variations,changes, substitutions, combinations, and equivalents to those forms maybe implemented and will occur to those skilled in the art withoutdeparting from the scope of the present disclosure. Moreover, thestructure of each element associated with the described forms can bealternatively described as a means for providing the function performedby the element. Also, where materials are disclosed for certaincomponents, other materials may be used. It is therefore to beunderstood that the foregoing description and the appended claims areintended to cover all such modifications, combinations, and variationsas falling within the scope of the disclosed forms. The appended claimsare intended to cover all such modifications, variations, changes,substitutions, modifications, and equivalents.

The foregoing detailed description has set forth various forms of thedevices and/or processes via the use of block diagrams, flowcharts,and/or examples. Insofar as such block diagrams, flowcharts, and/orexamples contain one or more functions and/or operations, it will beunderstood by those within the art that each function and/or operationwithin such block diagrams, flowcharts, and/or examples can beimplemented, individually and/or collectively, by a wide range ofhardware, software, firmware, or virtually any combination thereof.Those skilled in the art will recognize that some aspects of the formsdisclosed herein, in whole or in part, can be equivalently implementedin integrated circuits, as one or more computer programs running on oneor more computers (e.g., as one or more programs running on one or morecomputer systems), as one or more programs running on one or moreprocessors (e.g., as one or more programs running on one or moremicroprocessors), as firmware, or as virtually any combination thereof,and that designing the circuitry and/or writing the code for thesoftware and or firmware would be well within the skill of one of skillin the art in light of this disclosure. In addition, those skilled inthe art will appreciate that the mechanisms of the subject matterdescribed herein are capable of being distributed as one or more programproducts in a variety of forms, and that an illustrative form of thesubject matter described herein applies regardless of the particulartype of signal bearing medium used to actually carry out thedistribution.

Instructions used to program logic to perform various disclosed aspectscan be stored within a memory in the system, such as dynamic randomaccess memory (DRAM), cache, flash memory, or other storage.Furthermore, the instructions can be distributed via a network or by wayof other computer readable media. Thus a machine-readable medium mayinclude any mechanism for storing or transmitting information in a formreadable by a machine (e.g., a computer), but is not limited to, floppydiskettes, optical disks, compact disc, read-only memory (CD-ROMs), andmagneto-optical disks, read-only memory (ROMs), random access memory(RAM), erasable programmable read-only memory (EPROM), electricallyerasable programmable read-only memory (EEPROM), magnetic or opticalcards, flash memory, or a tangible, machine-readable storage used in thetransmission of information over the Internet via electrical, optical,acoustical or other forms of propagated signals (e.g., carrier waves,infrared signals, digital signals, etc.). Accordingly, thenon-transitory computer-readable medium includes any type of tangiblemachine-readable medium suitable for storing or transmitting electronicinstructions or information in a form readable by a machine (e.g., acomputer).

As used in any aspect herein, the term “control circuit” may refer to,for example, hardwired circuitry, programmable circuitry (e.g., acomputer processor comprising one or more individual instructionprocessing cores, processing unit, processor, microcontroller,microcontroller unit, controller, digital signal processor (DSP),programmable logic device (PLD), programmable logic array (PLA), orfield programmable gate array (FPGA)), state machine circuitry, firmwarethat stores instructions executed by programmable circuitry, and anycombination thereof. The control circuit may, collectively orindividually, be embodied as circuitry that forms part of a largersystem, for example, an integrated circuit (IC), an application-specificintegrated circuit (ASIC), a system on-chip (SoC), desktop computers,laptop computers, tablet computers, servers, smart phones, etc.Accordingly, as used herein “control circuit” includes, but is notlimited to, electrical circuitry having at least one discrete electricalcircuit, electrical circuitry having at least one integrated circuit,electrical circuitry having at least one application specific integratedcircuit, electrical circuitry forming a general purpose computing deviceconfigured by a computer program (e.g., a general purpose computerconfigured by a computer program which at least partially carries outprocesses and/or devices described herein, or a microprocessorconfigured by a computer program which at least partially carries outprocesses and/or devices described herein), electrical circuitry forminga memory device (e.g., forms of random access memory), and/or electricalcircuitry forming a communications device (e.g., a modem, communicationsswitch, or optical-electrical equipment). Those having skill in the artwill recognize that the subject matter described herein may beimplemented in an analog or digital fashion or some combination thereof.

As used in any aspect herein, the term “logic” may refer to an app,software, firmware and/or circuitry configured to perform any of theaforementioned operations. Software may be embodied as a softwarepackage, code, instructions, instruction sets and/or data recorded onnon-transitory computer readable storage medium. Firmware may beembodied as code, instructions or instruction sets and/or data that arehard-coded (e.g., nonvolatile) in memory devices.

As used in any aspect herein, the terms “component,” “system,” “module”and the like can refer to a computer-related entity, either hardware, acombination of hardware and software, software, or software inexecution.

As used in any aspect herein, an “algorithm” refers to a self-consistentsequence of steps leading to a desired result, where a “step” refers toa manipulation of physical quantities and/or logic states which may,though need not necessarily, take the form of electrical or magneticsignals capable of being stored, transferred, combined, compared, andotherwise manipulated. It is common usage to refer to these signals asbits, values, elements, symbols, characters, terms, numbers, or thelike. These and similar terms may be associated with the appropriatephysical quantities and are merely convenient labels applied to thesequantities and/or states.

A network may include a packet switched network. The communicationdevices may be capable of communicating with each other using a selectedpacket switched network communications protocol. One examplecommunications protocol may include an Ethernet communications protocolwhich may be capable permitting communication using a TransmissionControl Protocol/Internet Protocol (TCP/IP). The Ethernet protocol maycomply or be compatible with the Ethernet standard published by theInstitute of Electrical and Electronics Engineers (IEEE) titled “IEEE802.3 Standard”, published in December, 2008 and/or later versions ofthis standard. Alternatively or additionally, the communication devicesmay be capable of communicating with each other using an X.25communications protocol. The X.25 communications protocol may comply orbe compatible with a standard promulgated by the InternationalTelecommunication Union-Telecommunication Standardization Sector(ITU-T). Alternatively or additionally, the communication devices may becapable of communicating with each other using a frame relaycommunications protocol. The frame relay communications protocol maycomply or be compatible with a standard promulgated by ConsultativeCommittee for International Telegraph and Telephone (CCITT) and/or theAmerican National Standards Institute (ANSI). Alternatively oradditionally, the transceivers may be capable of communicating with eachother using an Asynchronous Transfer Mode (ATM) communications protocol.The ATM communications protocol may comply or be compatible with an ATMstandard published by the ATM Forum titled “ATM-MPLS NetworkInterworking 2.0” published August 2001, and/or later versions of thisstandard. Of course, different and/or after-developedconnection-oriented network communication protocols are equallycontemplated herein.

Unless specifically stated otherwise as apparent from the foregoingdisclosure, it is appreciated that, throughout the foregoing disclosure,discussions using terms such as “processing,” “computing,”“calculating,” “determining,” “displaying,” or the like, refer to theaction and processes of a computer system, or similar electroniccomputing device, that manipulates and transforms data represented asphysical (electronic) quantities within the computer system's registersand memories into other data similarly represented as physicalquantities within the computer system memories or registers or othersuch information storage, transmission or display devices.

One or more components may be referred to herein as “configured to,”“configurable to,” “operable/operative to,” “adapted/adaptable,” “ableto,” “conformable/conformed to,” etc. Those skilled in the art willrecognize that “configured to” can generally encompass active-statecomponents and/or inactive-state components and/or standby-statecomponents, unless context requires otherwise.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Those skilled in the art will recognize that, in general, terms usedherein, and especially in the appended claims (e.g., bodies of theappended claims) are generally intended as “open” terms (e.g., the term“including” should be interpreted as “including but not limited to,” theterm “having” should be interpreted as “having at least,” the term“includes” should be interpreted as “includes but is not limited to,”etc.). It will be further understood by those within the art that if aspecific number of an introduced claim recitation is intended, such anintent will be explicitly recited in the claim, and in the absence ofsuch recitation no such intent is present. For example, as an aid tounderstanding, the following appended claims may contain usage of theintroductory phrases “at least one” and “one or more” to introduce claimrecitations. However, the use of such phrases should not be construed toimply that the introduction of a claim recitation by the indefinitearticles “a” or “an” limits any particular claim containing suchintroduced claim recitation to claims containing only one suchrecitation, even when the same claim includes the introductory phrases“one or more” or “at least one” and indefinite articles such as “a” or“an” (e.g., “a” and/or “an” should typically be interpreted to mean “atleast one” or “one or more”); the same holds true for the use ofdefinite articles used to introduce claim recitations.

In addition, even if a specific number of an introduced claim recitationis explicitly recited, those skilled in the art will recognize that suchrecitation should typically be interpreted to mean at least the recitednumber (e.g., the bare recitation of “two recitations,” without othermodifiers, typically means at least two recitations, or two or morerecitations). Furthermore, in those instances where a conventionanalogous to “at least one of A, B, and C, etc.” is used, in generalsuch a construction is intended in the sense one having skill in the artwould understand the convention (e.g., “a system having at least one ofA, B, and C” would include but not be limited to systems that have Aalone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). In those instances where aconvention analogous to “at least one of A, B, or C, etc.” is used, ingeneral such a construction is intended in the sense one having skill inthe art would understand the convention (e.g., “a system having at leastone of A, B, or C” would include but not be limited to systems that haveA alone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). It will be furtherunderstood by those within the art that typically a disjunctive wordand/or phrase presenting two or more alternative terms, whether in thedescription, claims, or drawings, should be understood to contemplatethe possibilities of including one of the terms, either of the terms, orboth terms unless context dictates otherwise. For example, the phrase “Aor B” will be typically understood to include the possibilities of “A”or “B” or “A and B.”

With respect to the appended claims, those skilled in the art willappreciate that recited operations therein may generally be performed inany order. Also, although various operational flow diagrams arepresented in a sequence(s), it should be understood that the variousoperations may be performed in other orders than those which areillustrated, or may be performed concurrently. Examples of suchalternate orderings may include overlapping, interleaved, interrupted,reordered, incremental, preparatory, supplemental, simultaneous,reverse, or other variant orderings, unless context dictates otherwise.Furthermore, terms like “responsive to,” “related to,” or otherpast-tense adjectives are generally not intended to exclude suchvariants, unless context dictates otherwise.

It is worthy to note that any reference to “one aspect,” “an aspect,”“an exemplification,” “one exemplification,” and the like means that aparticular feature, structure, or characteristic described in connectionwith the aspect is included in at least one aspect. Thus, appearances ofthe phrases “in one aspect,” “in an aspect,” “in an exemplification,”and “in one exemplification” in various places throughout thespecification are not necessarily all referring to the same aspect.Furthermore, the particular features, structures or characteristics maybe combined in any suitable manner in one or more aspects.

Any patent application, patent, non-patent publication, or otherdisclosure material referred to in this specification and/or listed inany Application Data Sheet is incorporated by reference herein, to theextent that the incorporated materials is not inconsistent herewith. Assuch, and to the extent necessary, the disclosure as explicitly setforth herein supersedes any conflicting material incorporated herein byreference. Any material, or portion thereof, that is said to beincorporated by reference herein, but which conflicts with existingdefinitions, statements, or other disclosure material set forth hereinwill only be incorporated to the extent that no conflict arises betweenthat incorporated material and the existing disclosure material.

In summary, numerous benefits have been described which result fromemploying the concepts described herein. The foregoing description ofthe one or more forms has been presented for purposes of illustrationand description. It is not intended to be exhaustive or limiting to theprecise form disclosed. Modifications or variations are possible inlight of the above teachings. The one or more forms were chosen anddescribed in order to illustrate principles and practical application tothereby enable one of ordinary skill in the art to utilize the variousforms and with various modifications as are suited to the particular usecontemplated. It is intended that the claims submitted herewith definethe overall scope.

What is claimed is:
 1. A carriage assembly configured to be coupled to arobotic arm of a robotic surgical system and a surgical instrument, thecarriage assembly comprising: a carriage comprising a first interface; ahousing configured to receive a motor pack for driving the surgicalinstrument, the housing comprising: a second interface configured toengage the first interface to removably secure the housing to thecarriage; and a third interface configured to engage a fourth interfaceof the surgical instrument to removably secure the surgical instrumentto the carriage assembly; and a control circuit configured to: receive afirst input indicative of a first full engagement status of the firstinterface with the second interface; and receive a second inputindicative of a second full engagement status of the third interfacewith the fourth interface, wherein the second input is different thanthe first input; and wherein: the first interface comprises a firstelectrical contact; the second interface comprises a second electricalcontact configured to contact the first electrical contact in the firstfull engagement status; the third interface comprises a third electricalcontact; and the fourth interface comprises a fourth electrical contactconfigured to contact the third electrical contact in the second fullengagement status.
 2. A robotic surgical assembly configured to becoupled to a robotic arm of a robotic surgical system and a surgicalinstrument, the robotic surgical assembly comprising: a carriage; acarriage housing releasably connectable to the carriage; a motor housingconfigured to house a motor pack for driving the surgical instrument,wherein the motor housing is releasable connectable to the carriagehousing; an interface module configured to releasably secure the roboticsurgical assembly to the surgical instrument; a series ofinterconnections defined by mating portions of the carriage, thecarriage housing, the motor housing, and the interface module; and acontrol circuit configured to detect a fully engaged configuration ofthe mating portions based on the interconnections.
 3. The surgicalrobotic assembly of claim 2, wherein the interconnections form acomplete circuit in the fully engaged configuration.
 4. The surgicalrobotic assembly of claim 3, wherein the control circuit is furtherconfigured to detect an operational parameter of the surgical instrumentin the fully engaged configuration.
 5. The surgical robotic assembly ofclaim 2, wherein the control circuit is further configured to cause analert to be issued, wherein the alert is regarding an improperlyassembled pair of the mating portions.
 6. The robotic surgical assemblyof claim 5, wherein the alert comprises an error message displayed on asurgeon's console of the robotic surgical system.
 7. The roboticsurgical assembly of claim 2, wherein the interconnections are definedby electrical contacts on the mating portions.
 8. A surgical robot,comprising a robotic arm; and a carriage assembly configured to becoupled to the robotic arm and a surgical instrument, the carriageassembly comprising: a carriage comprising a first interface; a housingconfigured to receive a motor pack for driving the surgical instrument,the housing comprising: a second interface configured to engage thefirst interface to removably secure the housing to the carriage; and athird interface configured to engage a fourth interface of the surgicalinstrument to removably secure the surgical instrument to the carriageassembly; and a control circuit configured to: receive a first inputindicative of a first full engagement status of the first interface withthe second interface; and receive a second input indicative of a secondfull engagement status of the third interface with the fourth interface,wherein the second input is different than the first input; and wherein:the first interface comprises a first electrical contact; the secondinterface comprises a second electrical contact configured to contactthe first electrical contact in the first full engagement status; thethird interface comprises a third electrical contact; and the fourthinterface comprises a fourth electrical contact configured to contactthe third electrical contact in the second full engagement status.
 9. Asurgical robot, comprising a robotic arm; and a robotic surgicalassembly configured to be coupled to the robotic arm and a surgicalinstrument, the robotic surgical assembly comprising: a carriage; acarriage housing releasably connectable to the carriage; a motor housingconfigured to house a motor pack for driving the surgical instrument,wherein the motor housing is releasable connectable to the carriagehousing; an interface module configured to releasably secure the roboticsurgical assembly to the surgical instrument; interconnections definedby interfacing portions of the carriage, the carriage housing, the motorhousing, and the interface module; and a control circuit configured todetect a fully engaged configuration of the interfacing portions basedon the interconnections.